diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index acfab7a2821fa..6397141844469 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -4,6 +4,7 @@ common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.w
 common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
 common/autoware_component_interface_tools/** isamu.takagi@tier4.jp
 common/autoware_geography_utils/** koji.minoda@tier4.jp
+common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp
 common/autoware_grid_map_utils/** maxime.clement@tier4.jp
 common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp
@@ -26,7 +27,6 @@ common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.j
 common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp
 common/glog_component/** takamasa.horibe@tier4.jp
-common/goal_distance_calculator/** taiki.tanaka@tier4.jp
 common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
 common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp
 common/tier4_api_utils/** isamu.takagi@tier4.jp
diff --git a/common/autoware_goal_distance_calculator/CMakeLists.txt b/common/autoware_goal_distance_calculator/CMakeLists.txt
new file mode 100644
index 0000000000000..f6d326dd110af
--- /dev/null
+++ b/common/autoware_goal_distance_calculator/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_goal_distance_calculator)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/goal_distance_calculator_node.cpp
+  src/goal_distance_calculator.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::goal_distance_calculator::GoalDistanceCalculatorNode"
+  EXECUTABLE autoware_goal_distance_calculator_node
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)
diff --git a/common/goal_distance_calculator/Readme.md b/common/autoware_goal_distance_calculator/Readme.md
similarity index 98%
rename from common/goal_distance_calculator/Readme.md
rename to common/autoware_goal_distance_calculator/Readme.md
index 062b23baabe47..28a1e2fada086 100644
--- a/common/goal_distance_calculator/Readme.md
+++ b/common/autoware_goal_distance_calculator/Readme.md
@@ -1,4 +1,4 @@
-# goal_distance_calculator
+# autoware_goal_distance_calculator
 
 ## Purpose
 
diff --git a/common/goal_distance_calculator/config/goal_distance_calculator.param.yaml b/common/autoware_goal_distance_calculator/config/goal_distance_calculator.param.yaml
similarity index 100%
rename from common/goal_distance_calculator/config/goal_distance_calculator.param.yaml
rename to common/autoware_goal_distance_calculator/config/goal_distance_calculator.param.yaml
diff --git a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp
similarity index 79%
rename from common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp
rename to common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp
index 69c8840b39421..99bc9bd73d140 100644
--- a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp
+++ b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
-#define GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
+#ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
+#define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
 
 #include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -23,7 +23,7 @@
 
 #include <boost/optional.hpp>
 
-namespace goal_distance_calculator
+namespace autoware::goal_distance_calculator
 {
 using autoware::universe_utils::PoseDeviation;
 
@@ -52,6 +52,6 @@ class GoalDistanceCalculator
 private:
   Param param_;
 };
-}  // namespace goal_distance_calculator
+}  // namespace autoware::goal_distance_calculator
 
-#endif  // GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
+#endif  // AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
diff --git a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp
similarity index 82%
rename from common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp
rename to common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp
index 602688ffe51d7..f6f617292ab15 100644
--- a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp
+++ b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_
-#define GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_
+#ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_
+#define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_
 
-#include "goal_distance_calculator/goal_distance_calculator.hpp"
+#include "autoware/goal_distance_calculator/goal_distance_calculator.hpp"
 
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/ros/polling_subscriber.hpp>
@@ -30,7 +30,7 @@
 
 #include <memory>
 
-namespace goal_distance_calculator
+namespace autoware::goal_distance_calculator
 {
 struct NodeParam
 {
@@ -66,5 +66,5 @@ class GoalDistanceCalculatorNode : public rclcpp::Node
   // Core
   std::unique_ptr<GoalDistanceCalculator> goal_distance_calculator_;
 };
-}  // namespace goal_distance_calculator
-#endif  // GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_
+}  // namespace autoware::goal_distance_calculator
+#endif  // AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_
diff --git a/common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml b/common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml
similarity index 55%
rename from common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml
rename to common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml
index 7ba2eb45c9233..d35d17361bcb9 100644
--- a/common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml
+++ b/common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml
@@ -1,6 +1,6 @@
 <launch>
   <arg name="config_file" default="$(find-pkg-share goal_distance_calculator)/config/goal_distance_calculator.param.yaml"/>
-  <node pkg="goal_distance_calculator" exec="goal_distance_calculator_node" name="goal_distance_calculator" output="screen">
+  <node pkg="autoware_goal_distance_calculator" exec="autoware_goal_distance_calculator_node" name="autoware_goal_distance_calculator" output="screen">
     <param from="$(var config_file)"/>
   </node>
 </launch>
diff --git a/common/goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml
similarity index 86%
rename from common/goal_distance_calculator/package.xml
rename to common/autoware_goal_distance_calculator/package.xml
index 04ea8a37a5053..28472bee213ed 100644
--- a/common/goal_distance_calculator/package.xml
+++ b/common/autoware_goal_distance_calculator/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>goal_distance_calculator</name>
+  <name>autoware_goal_distance_calculator</name>
   <version>0.0.0</version>
-  <description>The goal_distance_calculator package</description>
+  <description>The autoware_goal_distance_calculator package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>
 
diff --git a/common/goal_distance_calculator/schema/goal_distance_calculator.schema.json b/common/autoware_goal_distance_calculator/schema/goal_distance_calculator.schema.json
similarity index 100%
rename from common/goal_distance_calculator/schema/goal_distance_calculator.schema.json
rename to common/autoware_goal_distance_calculator/schema/goal_distance_calculator.schema.json
diff --git a/common/goal_distance_calculator/src/goal_distance_calculator.cpp b/common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp
similarity index 83%
rename from common/goal_distance_calculator/src/goal_distance_calculator.cpp
rename to common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp
index a577d43675224..0bf1d5d5f54bc 100755
--- a/common/goal_distance_calculator/src/goal_distance_calculator.cpp
+++ b/common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "goal_distance_calculator/goal_distance_calculator.hpp"
+#include "autoware/goal_distance_calculator/goal_distance_calculator.hpp"
 
-namespace goal_distance_calculator
+namespace autoware::goal_distance_calculator
 {
 Output GoalDistanceCalculator::update(const Input & input)
 {
@@ -26,4 +26,4 @@ Output GoalDistanceCalculator::update(const Input & input)
   return output;
 }
 
-}  // namespace goal_distance_calculator
+}  // namespace autoware::goal_distance_calculator
diff --git a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp b/common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp
similarity index 93%
rename from common/goal_distance_calculator/src/goal_distance_calculator_node.cpp
rename to common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp
index 24d54ee2fcf87..c00a2e9bb452d 100644
--- a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp
+++ b/common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "goal_distance_calculator/goal_distance_calculator_node.hpp"
+#include "autoware/goal_distance_calculator/goal_distance_calculator_node.hpp"
 
 #include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -26,7 +26,7 @@
 #include <string>
 #include <utility>
 
-namespace goal_distance_calculator
+namespace autoware::goal_distance_calculator
 {
 GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions & options)
 : Node("goal_distance_calculator", options),
@@ -117,7 +117,7 @@ void GoalDistanceCalculatorNode::onTimer()
     rclcpp::shutdown();
   }
 }
-}  // namespace goal_distance_calculator
+}  // namespace autoware::goal_distance_calculator
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(goal_distance_calculator::GoalDistanceCalculatorNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::goal_distance_calculator::GoalDistanceCalculatorNode)
diff --git a/common/goal_distance_calculator/CMakeLists.txt b/common/goal_distance_calculator/CMakeLists.txt
deleted file mode 100644
index 62047f36accc8..0000000000000
--- a/common/goal_distance_calculator/CMakeLists.txt
+++ /dev/null
@@ -1,21 +0,0 @@
-cmake_minimum_required(VERSION 3.14)
-project(goal_distance_calculator)
-
-find_package(autoware_cmake REQUIRED)
-autoware_package()
-
-ament_auto_add_library(goal_distance_calculator SHARED
-  src/goal_distance_calculator_node.cpp
-  src/goal_distance_calculator.cpp
-)
-
-rclcpp_components_register_node(goal_distance_calculator
-  PLUGIN "goal_distance_calculator::GoalDistanceCalculatorNode"
-  EXECUTABLE goal_distance_calculator_node
-)
-
-ament_auto_package(
-  INSTALL_TO_SHARE
-  launch
-  config
-)