diff --git a/common/autoware_kalman_filter/include/autoware_kalman_filter/kalman_filter.hpp b/common/autoware_kalman_filter/include/autoware_kalman_filter/kalman_filter.hpp
index e4adc81f63279..b71a34b23b21b 100644
--- a/common/autoware_kalman_filter/include/autoware_kalman_filter/kalman_filter.hpp
+++ b/common/autoware_kalman_filter/include/autoware_kalman_filter/kalman_filter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef KALMAN_FILTER__KALMAN_FILTER_HPP_
-#define KALMAN_FILTER__KALMAN_FILTER_HPP_
+#ifndef AUTOWARE_KALMAN_FILTER__KALMAN_FILTER_HPP_
+#define AUTOWARE_KALMAN_FILTER__KALMAN_FILTER_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -211,4 +211,4 @@ class KalmanFilter
   Eigen::MatrixXd P_;  //!< @brief covariance of estimated state
 };
 }  // namespace autoware::kalman_filter
-#endif  // KALMAN_FILTER__KALMAN_FILTER_HPP_
+#endif  // AUTOWARE_KALMAN_FILTER__KALMAN_FILTER_HPP_
diff --git a/common/autoware_kalman_filter/include/autoware_kalman_filter/time_delay_kalman_filter.hpp b/common/autoware_kalman_filter/include/autoware_kalman_filter/time_delay_kalman_filter.hpp
index 9d1e0f53b678c..0cd6b8992d177 100644
--- a/common/autoware_kalman_filter/include/autoware_kalman_filter/time_delay_kalman_filter.hpp
+++ b/common/autoware_kalman_filter/include/autoware_kalman_filter/time_delay_kalman_filter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
-#define KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
+#ifndef AUTOWARE_KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
+#define AUTOWARE_KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
 
 #include "autoware_kalman_filter/kalman_filter.hpp"
 
@@ -86,4 +86,4 @@ class TimeDelayKalmanFilter : public KalmanFilter
   int dim_x_ex_;        //!< @brief dimension of extended state with dime delay
 };
 }  // namespace autoware::kalman_filter
-#endif  // KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
+#endif  // AUTOWARE_KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
diff --git a/common/autoware_kalman_filter/src/kalman_filter.cpp b/common/autoware_kalman_filter/src/kalman_filter.cpp
index 5f4444e55b721..96745404145e4 100644
--- a/common/autoware_kalman_filter/src/kalman_filter.cpp
+++ b/common/autoware_kalman_filter/src/kalman_filter.cpp
@@ -158,4 +158,4 @@ bool KalmanFilter::update(const Eigen::MatrixXd & y)
 {
   return update(y, C_, R_);
 }
-}  // namespace autoware::kalman_filter
\ No newline at end of file
+}  // namespace autoware::kalman_filter
diff --git a/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp b/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp
index 86c313aef9217..0cf1854b2076b 100644
--- a/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp
+++ b/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp
@@ -104,4 +104,4 @@ bool TimeDelayKalmanFilter::updateWithDelay(
 
   return true;
 }
-}  // namespace autoware::kalman_filter
\ No newline at end of file
+}  // namespace autoware::kalman_filter
diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml
index c3b1276fdbf5d..9cf2ab156448c 100644
--- a/localization/ekf_localizer/package.xml
+++ b/localization/ekf_localizer/package.xml
@@ -23,11 +23,11 @@
 
   <build_depend>eigen</build_depend>
 
+  <depend>autoware_kalman_filter</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
-  <depend>autoware_kalman_filter</depend>
   <depend>localization_util</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
diff --git a/perception/bytetrack/package.xml b/perception/bytetrack/package.xml
index ff17a9ee39620..ae4a8c69e19e4 100644
--- a/perception/bytetrack/package.xml
+++ b/perception/bytetrack/package.xml
@@ -15,12 +15,12 @@
   <buildtool_export_depend>cudnn_cmake_module</buildtool_export_depend>
   <buildtool_export_depend>tensorrt_cmake_module</buildtool_export_depend>
 
+  <depend>autoware_kalman_filter</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>cuda_utils</depend>
   <depend>cv_bridge</depend>
   <depend>eigen</depend>
   <depend>image_transport</depend>
-  <depend>autoware_kalman_filter</depend>
   <depend>libboost-system-dev</depend>
   <depend>libopencv-dev</depend>
   <depend>rclcpp</depend>
diff --git a/perception/multi_object_tracker/package.xml b/perception/multi_object_tracker/package.xml
index 392411223ccb0..0749421533711 100644
--- a/perception/multi_object_tracker/package.xml
+++ b/perception/multi_object_tracker/package.xml
@@ -13,12 +13,12 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_kalman_filter</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_updater</depend>
   <depend>eigen</depend>
   <depend>glog</depend>
-  <depend>autoware_kalman_filter</depend>
   <depend>mussp</depend>
   <depend>object_recognition_utils</depend>
   <depend>rclcpp</depend>
diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp b/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp
index 8abf12e85e3f1..e8c191a58f446 100644
--- a/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp
+++ b/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
 #define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
 
-#include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
 #include "autoware_kalman_filter/kalman_filter.hpp"
+#include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
 
 #include <string>
 namespace autoware::radar_object_tracker
diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp b/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp
index 190440a3589b2..1de5cdf1b4a26 100644
--- a/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp
+++ b/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
 #define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
 
-#include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
 #include "autoware_kalman_filter/kalman_filter.hpp"
+#include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
 
 #include <string>
 
diff --git a/perception/radar_object_tracker/package.xml b/perception/radar_object_tracker/package.xml
index 24452a25b69bf..f1b0435fc08ee 100644
--- a/perception/radar_object_tracker/package.xml
+++ b/perception/radar_object_tracker/package.xml
@@ -14,12 +14,12 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_kalman_filter</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>glog</depend>
-  <depend>autoware_kalman_filter</depend>
   <depend>mussp</depend>
   <depend>nlohmann-json-dev</depend>
   <depend>object_recognition_utils</depend>