diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index deb338ec88828..9181bd13b0de0 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -89,7 +89,7 @@ localization/gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp ma
 localization/localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_estimator_arbiter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
diff --git a/localization/pose2twist/CMakeLists.txt b/localization/autoware_pose2twist/CMakeLists.txt
similarity index 77%
rename from localization/pose2twist/CMakeLists.txt
rename to localization/autoware_pose2twist/CMakeLists.txt
index ee63d9f43559a..2783e1a69047a 100644
--- a/localization/pose2twist/CMakeLists.txt
+++ b/localization/autoware_pose2twist/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(pose2twist)
+project(autoware_pose2twist)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "Pose2Twist"
+  PLUGIN "autoware::pose2twist::Pose2Twist"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR SingleThreadedExecutor
 )
@@ -19,6 +19,9 @@ if(BUILD_TESTING)
   ament_auto_add_gtest(test_angular_velocity
     test/test_angular_velocity.cpp
   )
+  target_include_directories(test_angular_velocity PRIVATE
+    src
+  )
 endif()
 
 ament_auto_package(
diff --git a/localization/pose2twist/README.md b/localization/autoware_pose2twist/README.md
similarity index 82%
rename from localization/pose2twist/README.md
rename to localization/autoware_pose2twist/README.md
index f1f7d6408fafb..55ca4667c423d 100644
--- a/localization/pose2twist/README.md
+++ b/localization/autoware_pose2twist/README.md
@@ -1,8 +1,8 @@
-# pose2twist
+# autoware_pose2twist
 
 ## Purpose
 
-This `pose2twist` calculates the velocity from the input pose history. In addition to the computed twist, this node outputs the linear-x and angular-z components as a float message to simplify debugging.
+This `autoware_pose2twist` calculates the velocity from the input pose history. In addition to the computed twist, this node outputs the linear-x and angular-z components as a float message to simplify debugging.
 
 The `twist.linear.x` is calculated as `sqrt(dx * dx + dy * dy + dz * dz) / dt`, and the values in the `y` and `z` fields are zero.
 The `twist.angular` is calculated as `relative_rotation_vector / dt` for each field.
diff --git a/localization/pose2twist/launch/pose2twist.launch.xml b/localization/autoware_pose2twist/launch/pose2twist.launch.xml
similarity index 79%
rename from localization/pose2twist/launch/pose2twist.launch.xml
rename to localization/autoware_pose2twist/launch/pose2twist.launch.xml
index 57a41dbfcf017..8ac802a5d0ce3 100644
--- a/localization/pose2twist/launch/pose2twist.launch.xml
+++ b/localization/autoware_pose2twist/launch/pose2twist.launch.xml
@@ -2,7 +2,7 @@
   <arg name="input_pose_topic" default="/localization/pose_estimator/pose" description=""/>
   <arg name="output_twist_topic" default="/estimate_twist" description=""/>
 
-  <node pkg="pose2twist" exec="pose2twist_node" output="both">
+  <node pkg="autoware_pose2twist" exec="autoware_pose2twist_node" output="both">
     <remap from="pose" to="$(var input_pose_topic)"/>
     <remap from="twist" to="$(var output_twist_topic)"/>
   </node>
diff --git a/localization/pose2twist/package.xml b/localization/autoware_pose2twist/package.xml
similarity index 92%
rename from localization/pose2twist/package.xml
rename to localization/autoware_pose2twist/package.xml
index 07e445c72978c..dc499f8eda5a4 100644
--- a/localization/pose2twist/package.xml
+++ b/localization/autoware_pose2twist/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>pose2twist</name>
+  <name>autoware_pose2twist</name>
   <version>0.1.0</version>
-  <description>The pose2twist package</description>
+  <description>The autoware_pose2twist package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/localization/pose2twist/src/pose2twist_core.cpp b/localization/autoware_pose2twist/src/pose2twist_core.cpp
similarity index 96%
rename from localization/pose2twist/src/pose2twist_core.cpp
rename to localization/autoware_pose2twist/src/pose2twist_core.cpp
index cdde78ed7e357..4dc7b5fb04209 100644
--- a/localization/pose2twist/src/pose2twist_core.cpp
+++ b/localization/autoware_pose2twist/src/pose2twist_core.cpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose2twist/pose2twist_core.hpp"
+#include "pose2twist_core.hpp"
 
 #include <cmath>
 #include <cstddef>
 #include <functional>
 
+namespace autoware::pose2twist
+{
 Pose2Twist::Pose2Twist(const rclcpp::NodeOptions & options) : rclcpp::Node("pose2twist", options)
 {
   using std::placeholders::_1;
@@ -113,6 +115,7 @@ void Pose2Twist::callback_pose(geometry_msgs::msg::PoseStamped::SharedPtr pose_m
   angular_z_msg.data = static_cast<float>(twist_msg.twist.angular.z);
   angular_z_pub_->publish(angular_z_msg);
 }
+}  // namespace autoware::pose2twist
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(Pose2Twist)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pose2twist::Pose2Twist)
diff --git a/localization/pose2twist/include/pose2twist/pose2twist_core.hpp b/localization/autoware_pose2twist/src/pose2twist_core.hpp
similarity index 91%
rename from localization/pose2twist/include/pose2twist/pose2twist_core.hpp
rename to localization/autoware_pose2twist/src/pose2twist_core.hpp
index d1ff6ee5ff8b6..ed3e542beb857 100644
--- a/localization/pose2twist/include/pose2twist/pose2twist_core.hpp
+++ b/localization/autoware_pose2twist/src/pose2twist_core.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE2TWIST__POSE2TWIST_CORE_HPP_
-#define POSE2TWIST__POSE2TWIST_CORE_HPP_
+#ifndef POSE2TWIST_CORE_HPP_
+#define POSE2TWIST_CORE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -27,6 +27,8 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
+namespace autoware::pose2twist
+{
 // Compute the relative rotation of q2 from q1 as a rotation vector
 geometry_msgs::msg::Vector3 compute_relative_rotation_vector(
   const tf2::Quaternion & q1, const tf2::Quaternion & q2);
@@ -45,5 +47,6 @@ class Pose2Twist : public rclcpp::Node
   rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr linear_x_pub_;
   rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr angular_z_pub_;
 };
+}  // namespace autoware::pose2twist
 
-#endif  // POSE2TWIST__POSE2TWIST_CORE_HPP_
+#endif  // POSE2TWIST_CORE_HPP_
diff --git a/localization/pose2twist/test/test_angular_velocity.cpp b/localization/autoware_pose2twist/test/test_angular_velocity.cpp
similarity index 97%
rename from localization/pose2twist/test/test_angular_velocity.cpp
rename to localization/autoware_pose2twist/test/test_angular_velocity.cpp
index bf2ca0a3ba5c2..38eba6f329565 100644
--- a/localization/pose2twist/test/test_angular_velocity.cpp
+++ b/localization/autoware_pose2twist/test/test_angular_velocity.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose2twist/pose2twist_core.hpp"
+#include "pose2twist_core.hpp"
 
 #include <gtest/gtest.h>
 
@@ -102,7 +102,7 @@ TEST(AngularVelocityFromQuaternion, CheckNumericalValidity)
 
     // Calculate the relative rotation between the initial and final quaternion
     const geometry_msgs::msg::Vector3 rotation_vector =
-      compute_relative_rotation_vector(initial_q, final_q);
+      autoware::pose2twist::compute_relative_rotation_vector(initial_q, final_q);
 
     EXPECT_NEAR(rotation_vector.x, expected_axis.x() * expected_angle, acceptable_error);
     EXPECT_NEAR(rotation_vector.y, expected_axis.y() * expected_angle, acceptable_error);
diff --git a/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml b/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml
index 9ee05189a35d8..919858950e69c 100644
--- a/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml
+++ b/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml
@@ -6,7 +6,7 @@
   <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py"/>
 
   <!-- ndt twist publisher -->
-  <include file="$(find-pkg-share pose2twist)/launch/pose2twist.launch.xml">
+  <include file="$(find-pkg-share autoware_pose2twist)/launch/pose2twist.launch.xml">
     <arg name="input_pose_topic" value="/localization/pose_estimator/pose"/>
     <arg name="output_twist_topic" value="/estimate_twist"/>
   </include>
diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml
index 5e4638f605713..ea35883334e35 100644
--- a/vehicle/autoware_steer_offset_estimator/package.xml
+++ b/vehicle/autoware_steer_offset_estimator/package.xml
@@ -18,8 +18,8 @@
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>tier4_debug_msgs</depend>
+  <exec_depend>autoware_pose2twist</exec_depend>
   <exec_depend>global_parameter_loader</exec_depend>
-  <exec_depend>pose2twist</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>