diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 6333b479b5696..f72cac4d2c662 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -93,7 +93,7 @@ localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.j
 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/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
+localization/autoware_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
 localization/yabloc/yabloc_common/** 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/yabloc/yabloc_image_processing/** 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/yabloc/yabloc_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
diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
index fa479c71dcbac..dda9c1f2c97ce 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -35,10 +35,10 @@
   </group>
 
   <group>
-    <include file="$(find-pkg-share pose_instability_detector)/launch/pose_instability_detector.launch.xml">
+    <include file="$(find-pkg-share autoware_pose_instability_detector)/launch/pose_instability_detector.launch.xml">
       <arg name="input_odometry" value="/localization/kinematic_state"/>
       <arg name="input_twist" value="/localization/twist_estimator/twist_with_covariance"/>
-      <arg name="param_file" value="$(find-pkg-share pose_instability_detector)/config/pose_instability_detector.param.yaml"/>
+      <arg name="param_file" value="$(find-pkg-share autoware_pose_instability_detector)/config/pose_instability_detector.param.yaml"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
index efeecd3e37f61..870fc66c1e2e4 100644
--- a/launch/tier4_localization_launch/package.xml
+++ b/launch/tier4_localization_launch/package.xml
@@ -23,13 +23,13 @@
   <exec_depend>autoware_gyro_odometer</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_pose_estimator_arbiter</exec_depend>
+  <exec_depend>autoware_pose_instability_detector</exec_depend>
   <exec_depend>eagleye_geo_pose_fusion</exec_depend>
   <exec_depend>eagleye_gnss_converter</exec_depend>
   <exec_depend>eagleye_rt</exec_depend>
   <exec_depend>ekf_localizer</exec_depend>
   <exec_depend>ndt_scan_matcher</exec_depend>
   <exec_depend>pose_initializer</exec_depend>
-  <exec_depend>pose_instability_detector</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>yabloc_common</exec_depend>
   <exec_depend>yabloc_image_processing</exec_depend>
diff --git a/localization/pose_instability_detector/CMakeLists.txt b/localization/autoware_pose_instability_detector/CMakeLists.txt
similarity index 82%
rename from localization/pose_instability_detector/CMakeLists.txt
rename to localization/autoware_pose_instability_detector/CMakeLists.txt
index c6f94ab7df16e..9e7a1d15ee0f2 100644
--- a/localization/pose_instability_detector/CMakeLists.txt
+++ b/localization/autoware_pose_instability_detector/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(pose_instability_detector)
+project(autoware_pose_instability_detector)
 
 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 "PoseInstabilityDetector"
+  PLUGIN "autoware::pose_instability_detector::PoseInstabilityDetector"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR SingleThreadedExecutor
 )
diff --git a/localization/pose_instability_detector/README.md b/localization/autoware_pose_instability_detector/README.md
similarity index 98%
rename from localization/pose_instability_detector/README.md
rename to localization/autoware_pose_instability_detector/README.md
index 4ced0fa8eb97b..5beb796f46e12 100644
--- a/localization/pose_instability_detector/README.md
+++ b/localization/autoware_pose_instability_detector/README.md
@@ -1,4 +1,4 @@
-# pose_instability_detector
+# autoware_pose_instability_detector
 
 The `pose_instability_detector` is a node designed to monitor the stability of `/localization/kinematic_state`, which is an output topic of the Extended Kalman Filter (EKF).
 
@@ -109,7 +109,7 @@ $$
 
 ## Parameters
 
-{{ json_to_markdown("localization/pose_instability_detector/schema/pose_instability_detector.schema.json") }}
+{{ json_to_markdown("localization/autoware_pose_instability_detector/schema/pose_instability_detector.schema.json") }}
 
 ## Input
 
diff --git a/localization/pose_instability_detector/config/pose_instability_detector.param.yaml b/localization/autoware_pose_instability_detector/config/pose_instability_detector.param.yaml
similarity index 100%
rename from localization/pose_instability_detector/config/pose_instability_detector.param.yaml
rename to localization/autoware_pose_instability_detector/config/pose_instability_detector.param.yaml
diff --git a/localization/pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp b/localization/autoware_pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp
similarity index 97%
rename from localization/pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp
rename to localization/autoware_pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp
index febff8c2ee244..615b818a2bde0 100644
--- a/localization/pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp
+++ b/localization/autoware_pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp
@@ -26,6 +26,8 @@
 #include <tuple>
 #include <vector>
 
+namespace autoware::pose_instability_detector
+{
 class PoseInstabilityDetector : public rclcpp::Node
 {
   using Quaternion = geometry_msgs::msg::Quaternion;
@@ -93,5 +95,6 @@ class PoseInstabilityDetector : public rclcpp::Node
   std::optional<Odometry> prev_odometry_ = std::nullopt;
   std::deque<TwistWithCovarianceStamped> twist_buffer_;
 };
+}  // namespace autoware::pose_instability_detector
 
 #endif  // AUTOWARE__POSE_INSTABILITY_DETECTOR__POSE_INSTABILITY_DETECTOR_HPP_
diff --git a/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml b/localization/autoware_pose_instability_detector/launch/pose_instability_detector.launch.xml
similarity index 58%
rename from localization/pose_instability_detector/launch/pose_instability_detector.launch.xml
rename to localization/autoware_pose_instability_detector/launch/pose_instability_detector.launch.xml
index 5ebe7d7e429e0..716f2b165bb9b 100644
--- a/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml
+++ b/localization/autoware_pose_instability_detector/launch/pose_instability_detector.launch.xml
@@ -1,12 +1,12 @@
 <launch>
   <arg name="node_name" default="pose_instability_detector"/>
-  <arg name="param_file" default="$(find-pkg-share pose_instability_detector)/config/pose_instability_detector.param.yaml"/>
+  <arg name="param_file" default="$(find-pkg-share autoware_pose_instability_detector)/config/pose_instability_detector.param.yaml"/>
 
   <!-- Topics -->
   <arg name="input_odometry" default="~/input/odometry"/>
   <arg name="input_twist" default="~/input/twist"/>
 
-  <node pkg="pose_instability_detector" exec="pose_instability_detector_node" name="$(var node_name)" output="both">
+  <node pkg="autoware_pose_instability_detector" exec="autoware_pose_instability_detector_node" name="$(var node_name)" output="both">
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
     <remap from="~/input/twist" to="$(var input_twist)"/>
     <param from="$(var param_file)"/>
diff --git a/localization/pose_instability_detector/media/how_to_snip_twist.png b/localization/autoware_pose_instability_detector/media/how_to_snip_twist.png
similarity index 100%
rename from localization/pose_instability_detector/media/how_to_snip_twist.png
rename to localization/autoware_pose_instability_detector/media/how_to_snip_twist.png
diff --git a/localization/pose_instability_detector/media/lateral_threshold_calculation.png b/localization/autoware_pose_instability_detector/media/lateral_threshold_calculation.png
similarity index 100%
rename from localization/pose_instability_detector/media/lateral_threshold_calculation.png
rename to localization/autoware_pose_instability_detector/media/lateral_threshold_calculation.png
diff --git a/localization/pose_instability_detector/media/pose_instability_detector_overview.png b/localization/autoware_pose_instability_detector/media/pose_instability_detector_overview.png
similarity index 100%
rename from localization/pose_instability_detector/media/pose_instability_detector_overview.png
rename to localization/autoware_pose_instability_detector/media/pose_instability_detector_overview.png
diff --git a/localization/pose_instability_detector/media/pose_instabilty_detector_procedure.svg b/localization/autoware_pose_instability_detector/media/pose_instabilty_detector_procedure.svg
similarity index 100%
rename from localization/pose_instability_detector/media/pose_instabilty_detector_procedure.svg
rename to localization/autoware_pose_instability_detector/media/pose_instabilty_detector_procedure.svg
diff --git a/localization/pose_instability_detector/media/rqt_runtime_monitor.png b/localization/autoware_pose_instability_detector/media/rqt_runtime_monitor.png
similarity index 100%
rename from localization/pose_instability_detector/media/rqt_runtime_monitor.png
rename to localization/autoware_pose_instability_detector/media/rqt_runtime_monitor.png
diff --git a/localization/pose_instability_detector/media/timeline.drawio.svg b/localization/autoware_pose_instability_detector/media/timeline.drawio.svg
similarity index 100%
rename from localization/pose_instability_detector/media/timeline.drawio.svg
rename to localization/autoware_pose_instability_detector/media/timeline.drawio.svg
diff --git a/localization/pose_instability_detector/package.xml b/localization/autoware_pose_instability_detector/package.xml
similarity index 91%
rename from localization/pose_instability_detector/package.xml
rename to localization/autoware_pose_instability_detector/package.xml
index 7e0237cbaf780..d59baf5817233 100644
--- a/localization/pose_instability_detector/package.xml
+++ b/localization/autoware_pose_instability_detector/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>pose_instability_detector</name>
+  <name>autoware_pose_instability_detector</name>
   <version>0.1.0</version>
-  <description>The pose_instability_detector package</description>
+  <description>The autoware_pose_instability_detector package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/pose_instability_detector/schema/pose_instability_detector.schema.json b/localization/autoware_pose_instability_detector/schema/pose_instability_detector.schema.json
similarity index 100%
rename from localization/pose_instability_detector/schema/pose_instability_detector.schema.json
rename to localization/autoware_pose_instability_detector/schema/pose_instability_detector.schema.json
diff --git a/localization/pose_instability_detector/src/pose_instability_detector.cpp b/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp
similarity index 98%
rename from localization/pose_instability_detector/src/pose_instability_detector.cpp
rename to localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp
index 23362dd13c6bc..36aa4f6d7d73e 100644
--- a/localization/pose_instability_detector/src/pose_instability_detector.cpp
+++ b/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp
@@ -25,6 +25,8 @@
 #include <memory>
 #include <string>
 
+namespace autoware::pose_instability_detector
+{
 PoseInstabilityDetector::PoseInstabilityDetector(const rclcpp::NodeOptions & options)
 : rclcpp::Node("pose_instability_detector", options),
   timer_period_(this->declare_parameter<double>("timer_period")),
@@ -409,6 +411,7 @@ PoseInstabilityDetector::clip_out_necessary_twist(
   }
   return result_deque;
 }
+}  // namespace autoware::pose_instability_detector
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(PoseInstabilityDetector)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pose_instability_detector::PoseInstabilityDetector)
diff --git a/localization/pose_instability_detector/test/test.cpp b/localization/autoware_pose_instability_detector/test/test.cpp
similarity index 96%
rename from localization/pose_instability_detector/test/test.cpp
rename to localization/autoware_pose_instability_detector/test/test.cpp
index 482e659e7a13c..bd663a2406903 100644
--- a/localization/pose_instability_detector/test/test.cpp
+++ b/localization/autoware_pose_instability_detector/test/test.cpp
@@ -36,7 +36,7 @@ class TestPoseInstabilityDetector : public ::testing::Test
   void SetUp() override
   {
     const std::string yaml_path =
-      ament_index_cpp::get_package_share_directory("pose_instability_detector") +
+      ament_index_cpp::get_package_share_directory("autoware_pose_instability_detector") +
       "/config/pose_instability_detector.param.yaml";
 
     rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator());
@@ -53,7 +53,8 @@ class TestPoseInstabilityDetector : public ::testing::Test
       }
     }
 
-    subject_ = std::make_shared<PoseInstabilityDetector>(node_options);
+    subject_ =
+      std::make_shared<autoware::pose_instability_detector::PoseInstabilityDetector>(node_options);
     executor_.add_node(subject_);
 
     helper_ = std::make_shared<TestMessageHelperNode>();
@@ -69,7 +70,7 @@ class TestPoseInstabilityDetector : public ::testing::Test
   }
 
   rclcpp::executors::SingleThreadedExecutor executor_;
-  std::shared_ptr<PoseInstabilityDetector> subject_;
+  std::shared_ptr<autoware::pose_instability_detector::PoseInstabilityDetector> subject_;
   std::shared_ptr<TestMessageHelperNode> helper_;
 };
 
diff --git a/localization/pose_instability_detector/test/test_message_helper_node.hpp b/localization/autoware_pose_instability_detector/test/test_message_helper_node.hpp
similarity index 100%
rename from localization/pose_instability_detector/test/test_message_helper_node.hpp
rename to localization/autoware_pose_instability_detector/test/test_message_helper_node.hpp