diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 3d92cd900e3b2..a9e229c578002 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -212,9 +212,9 @@ system/autoware_default_adapi/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.
 system/autoware_processing_time_checker/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
 system/autoware_bluetooth_monitor/** fumihito.ito@tier4.jp junya.sasaki@tier4.jp
 system/component_state_monitor/** isamu.takagi@tier4.jp
-system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
-system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
-system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
+system/autoware_default_adapi_helpers/autoware_adapi_adaptors/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
+system/autoware_default_adapi_helpers/autoware_adapi_visualizers/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
+system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
 system/diagnostic_graph_aggregator/** isamu.takagi@tier4.jp
 system/diagnostic_graph_utils/** isamu.takagi@tier4.jp
 system/autoware_dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
diff --git a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
index 143fbc9be5bfb..4c204fe2795e8 100644
--- a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
+++ b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
@@ -17,7 +17,7 @@
   <!-- AD API -->
   <group>
     <include file="$(find-pkg-share autoware_default_adapi)/launch/default_adapi.launch.py" if="$(var launch_default_adapi)"/>
-    <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)"/>
+    <include file="$(find-pkg-share autoware_adapi_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)"/>
   </group>
 
   <!-- RTC controller -->
diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml
index 45df577f28f29..290aa80bcdad7 100644
--- a/launch/tier4_autoware_api_launch/package.xml
+++ b/launch/tier4_autoware_api_launch/package.xml
@@ -11,7 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <exec_depend>ad_api_adaptors</exec_depend>
+  <exec_depend>autoware_adapi_adaptors</exec_depend>
   <exec_depend>autoware_default_adapi</exec_depend>
   <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
   <exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
index 55c9c59a2b000..e686bf627be5c 100644
--- a/launch/tier4_localization_launch/package.xml
+++ b/launch/tier4_localization_launch/package.xml
@@ -17,8 +17,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <exec_depend>automatic_pose_initializer</exec_depend>
   <exec_depend>autoware_ar_tag_based_localizer</exec_depend>
+  <exec_depend>autoware_automatic_pose_initializer</exec_depend>
   <exec_depend>autoware_ekf_localizer</exec_depend>
   <exec_depend>autoware_geo_pose_projector</exec_depend>
   <exec_depend>autoware_gyro_odometer</exec_depend>
diff --git a/localization/autoware_pose_initializer/README.md b/localization/autoware_pose_initializer/README.md
index 2d8f0343f3493..d48520fa7ea30 100644
--- a/localization/autoware_pose_initializer/README.md
+++ b/localization/autoware_pose_initializer/README.md
@@ -137,4 +137,4 @@ pose:
 ```
 
 It behaves the same as "initialpose (from rviz)".
-The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/default_ad_api_helpers/ad_api_adaptors), so there is no need to input them.
+The position.z and the covariance will be overwritten by [autoware_adapi_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/autoware_default_adapi_helpers/autoware_adapi_adaptors), so there is no need to input them.
diff --git a/system/autoware_default_adapi/script/web_server.py b/system/autoware_default_adapi/script/web_server.py
index 1cbf30133c46b..bbd3d72bd0e06 100755
--- a/system/autoware_default_adapi/script/web_server.py
+++ b/system/autoware_default_adapi/script/web_server.py
@@ -49,7 +49,7 @@ def convert_dict(msg):
 
 def spin_ros_node():
     global cli
-    node = Node("ad_api_default_web_server")
+    node = Node("adapi_default_web_server")
     cli = create_service(node, InterfaceVersion, "/api/interface/version")
     rclpy.spin(node)
 
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/CHANGELOG.rst
similarity index 100%
rename from system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/CHANGELOG.rst
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/CMakeLists.txt
similarity index 77%
rename from system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/CMakeLists.txt
index c14f71571d272..a9f443e919411 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(ad_api_adaptors)
+project(autoware_adapi_adaptors)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -10,13 +10,13 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "ad_api_adaptors::InitialPoseAdaptor"
+  PLUGIN "autoware::adapi_adaptors::InitialPoseAdaptor"
   EXECUTABLE initial_pose_adaptor_node
   EXECUTOR MultiThreadedExecutor
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "ad_api_adaptors::RoutingAdaptor"
+  PLUGIN "autoware::adapi_adaptors::RoutingAdaptor"
   EXECUTABLE routing_adaptor_node
   EXECUTOR SingleThreadedExecutor
 )
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/README.md b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/README.md
similarity index 94%
rename from system/default_ad_api_helpers/ad_api_adaptors/README.md
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/README.md
index 74c5e6f84e80b..24f2de82e564f 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/README.md
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/README.md
@@ -1,4 +1,4 @@
-# ad_api_adaptors
+# adapi_adaptors
 
 ## initial_pose_adaptor
 
@@ -32,4 +32,4 @@ The clear API is called automatically before setting the route.
 
 ## parameters
 
-{{ json_to_markdown("/system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json") }}
+{{ json_to_markdown("/system/autoware_default_adapi_helpers/adapi_adaptors/schema/adapi_adaptors.schema.json") }}
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/config/initial_pose.param.yaml b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/config/initial_pose.param.yaml
similarity index 100%
rename from system/default_ad_api_helpers/ad_api_adaptors/config/initial_pose.param.yaml
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/config/initial_pose.param.yaml
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/launch/rviz_adaptors.launch.xml
similarity index 74%
rename from system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/launch/rviz_adaptors.launch.xml
index 855f57345ed15..253d786cd59e7 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/launch/rviz_adaptors.launch.xml
@@ -2,9 +2,9 @@
   <arg name="rviz_initial_pose_auto_fix_target" default="pointcloud_map"/>
 
   <group>
-    <push-ros-namespace namespace="default_ad_api/helpers"/>
-    <node pkg="ad_api_adaptors" exec="initial_pose_adaptor_node">
-      <param from="$(find-pkg-share ad_api_adaptors)/config/initial_pose.param.yaml"/>
+    <push-ros-namespace namespace="default_adapi/helpers"/>
+    <node pkg="autoware_adapi_adaptors" exec="initial_pose_adaptor_node">
+      <param from="$(find-pkg-share autoware_adapi_adaptors)/config/initial_pose.param.yaml"/>
       <param name="map_height_fitter.map_loader_name" value="/map/pointcloud_map_loader"/>
       <param name="map_height_fitter.target" value="$(var rviz_initial_pose_auto_fix_target)"/>
       <remap from="~/initialpose" to="/initialpose"/>
@@ -12,7 +12,7 @@
       <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
       <remap from="~/vector_map" to="/map/vector_map"/>
     </node>
-    <node pkg="ad_api_adaptors" exec="routing_adaptor_node">
+    <node pkg="autoware_adapi_adaptors" exec="routing_adaptor_node">
       <remap from="~/input/fixed_goal" to="/planning/mission_planning/goal"/>
       <remap from="~/input/rough_goal" to="/rviz/routing/rough_goal"/>
       <remap from="~/input/reroute" to="/rviz/routing/reroute"/>
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/package.xml
similarity index 85%
rename from system/default_ad_api_helpers/ad_api_adaptors/package.xml
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/package.xml
index 4fe6390df77e0..fa2f632f445a7 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/package.xml
@@ -1,12 +1,13 @@
 <?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>ad_api_adaptors</name>
+  <name>autoware_adapi_adaptors</name>
   <version>0.40.0</version>
-  <description>The ad_api_adaptors package</description>
+  <description>The adapi_adaptors package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/schema/adapi_adaptors.schema.json
similarity index 93%
rename from system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/schema/adapi_adaptors.schema.json
index bdc921e31dd23..dd3bb2b4a25ed 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/schema/adapi_adaptors.schema.json
@@ -1,9 +1,9 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "ad_api_adaptors parameter",
+  "title": "adapi_adaptors parameter",
   "type": "object",
   "definitions": {
-    "ad_api_adaptors": {
+    "adapi_adaptors": {
       "type": "object",
       "properties": {
         "initial_pose_particle_covariance": {
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/initial_pose_adaptor.cpp
similarity index 90%
rename from system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/initial_pose_adaptor.cpp
index 18235d966aa5e..f4aaada70b4a6 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/initial_pose_adaptor.cpp
@@ -18,7 +18,7 @@
 #include <string>
 #include <vector>
 
-namespace ad_api_adaptors
+namespace autoware::adapi_adaptors
 {
 template <class ServiceT>
 using Future = typename rclcpp::Client<ServiceT>::SharedFuture;
@@ -35,7 +35,7 @@ std::array<double, 36> get_covariance_parameter(rclcpp::Node * node, const std::
 }
 
 InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options)
-: Node("initial_pose_adaptor", options), fitter_(this)
+: Node("autoware_initial_pose_adaptor", options), fitter_(this)
 {
   rviz_particle_covariance_ = get_covariance_parameter(this, "initial_pose_particle_covariance");
   sub_initial_pose_ = create_subscription<PoseWithCovarianceStamped>(
@@ -60,7 +60,7 @@ void InitialPoseAdaptor::on_initial_pose(const PoseWithCovarianceStamped::ConstS
   cli_initialize_->async_send_request(req);
 }
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::adapi_adaptors
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::InitialPoseAdaptor)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::adapi_adaptors::InitialPoseAdaptor)
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/initial_pose_adaptor.hpp
similarity index 95%
rename from system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/initial_pose_adaptor.hpp
index 922c4c30b6254..1ea99394f25fc 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/initial_pose_adaptor.hpp
@@ -22,7 +22,7 @@
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 
-namespace ad_api_adaptors
+namespace autoware::adapi_adaptors
 {
 
 class InitialPoseAdaptor : public rclcpp::Node
@@ -41,6 +41,6 @@ class InitialPoseAdaptor : public rclcpp::Node
   void on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg);
 };
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::adapi_adaptors
 
 #endif  // INITIAL_POSE_ADAPTOR_HPP_
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/routing_adaptor.cpp
similarity index 95%
rename from system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/routing_adaptor.cpp
index 1de86a621a9e4..a84d8604f7ce6 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/routing_adaptor.cpp
@@ -16,11 +16,11 @@
 
 #include <memory>
 
-namespace ad_api_adaptors
+namespace autoware::adapi_adaptors
 {
 
 RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options)
-: Node("routing_adaptor", options)
+: Node("autoware_routing_adaptor", options)
 {
   using std::placeholders::_1;
 
@@ -109,7 +109,7 @@ void RoutingAdaptor::on_reroute(const PoseStamped::ConstSharedPtr pose)
   cli_reroute_->async_send_request(route);
 }
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::adapi_adaptors
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::RoutingAdaptor)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::adapi_adaptors::RoutingAdaptor)
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/routing_adaptor.hpp
similarity index 96%
rename from system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp
rename to system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/routing_adaptor.hpp
index b4577573b665b..4f8a18af5c066 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/routing_adaptor.hpp
@@ -23,7 +23,7 @@
 
 #include <string>
 
-namespace ad_api_adaptors
+namespace autoware::adapi_adaptors
 {
 
 class RoutingAdaptor : public rclcpp::Node
@@ -59,6 +59,6 @@ class RoutingAdaptor : public rclcpp::Node
   void on_reroute(const PoseStamped::ConstSharedPtr pose);
 };
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::adapi_adaptors
 
 #endif  // ROUTING_ADAPTOR_HPP_
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/CHANGELOG.rst
similarity index 100%
rename from system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst
rename to system/autoware_default_adapi_helpers/autoware_adapi_visualizers/CHANGELOG.rst
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/ad_api_visualizers/__init__.py b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/autoware_adapi_visualizers/__init__.py
similarity index 100%
rename from system/default_ad_api_helpers/ad_api_visualizers/ad_api_visualizers/__init__.py
rename to system/autoware_default_adapi_helpers/autoware_adapi_visualizers/autoware_adapi_visualizers/__init__.py
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/ad_api_visualizers/planning_factors.py b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/autoware_adapi_visualizers/planning_factors.py
similarity index 98%
rename from system/default_ad_api_helpers/ad_api_visualizers/ad_api_visualizers/planning_factors.py
rename to system/autoware_default_adapi_helpers/autoware_adapi_visualizers/autoware_adapi_visualizers/planning_factors.py
index b60fa5365f2a2..27ff45276b9ef 100755
--- a/system/default_ad_api_helpers/ad_api_visualizers/ad_api_visualizers/planning_factors.py
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/autoware_adapi_visualizers/planning_factors.py
@@ -60,7 +60,7 @@
 
 class PlanningFactorVisualizer(rclpy.node.Node):
     def __init__(self):
-        super().__init__("planning_factor_visualizer")
+        super().__init__("autoware_planning_factor_visualizer")
         self.front_offset = self.declare_parameter("front_offset", 0.0).value
         self.pub_velocity = self.create_publisher(MarkerArray, "/visualizer/velocity_factors", 1)
         self.pub_steering = self.create_publisher(MarkerArray, "/visualizer/steering_factors", 1)
diff --git a/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/launch/autoware_adapi_visualizers.launch.xml b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/launch/autoware_adapi_visualizers.launch.xml
new file mode 100644
index 0000000000000..90559864b9469
--- /dev/null
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/launch/autoware_adapi_visualizers.launch.xml
@@ -0,0 +1,5 @@
+<launch>
+  <node pkg="autoware_adapi_visualizers" name="planning_factors" exec="planning_factors">
+    <param name="front_offset" value="0.0"/>
+  </node>
+</launch>
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/package.xml b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/package.xml
similarity index 83%
rename from system/default_ad_api_helpers/ad_api_visualizers/package.xml
rename to system/autoware_default_adapi_helpers/autoware_adapi_visualizers/package.xml
index 2392cfaaface1..a51e5b0b80b32 100644
--- a/system/default_ad_api_helpers/ad_api_visualizers/package.xml
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/package.xml
@@ -1,12 +1,13 @@
 <?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>ad_api_visualizers</name>
+  <name>autoware_adapi_visualizers</name>
   <version>0.40.0</version>
-  <description>The ad_api_visualizers package</description>
+  <description>The adapi_visualizers package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <exec_depend>autoware_adapi_v1_msgs</exec_depend>
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/resource/ad_api_visualizers b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/resource/autoware_adapi_visualizers
similarity index 100%
rename from system/default_ad_api_helpers/ad_api_visualizers/resource/ad_api_visualizers
rename to system/autoware_default_adapi_helpers/autoware_adapi_visualizers/resource/autoware_adapi_visualizers
diff --git a/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.cfg b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.cfg
new file mode 100644
index 0000000000000..0eed433d69c43
--- /dev/null
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/adapi_visualizers
+[install]
+install_scripts=$base/lib/adapi_visualizers
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/setup.py b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.py
similarity index 81%
rename from system/default_ad_api_helpers/ad_api_visualizers/setup.py
rename to system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.py
index ee4cf253b5288..ee38c2feb0670 100644
--- a/system/default_ad_api_helpers/ad_api_visualizers/setup.py
+++ b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.py
@@ -7,7 +7,7 @@
 simplefilter("ignore", category=SetuptoolsDeprecationWarning)
 simplefilter("ignore", category=PkgResourcesDeprecationWarning)
 
-package_name = "ad_api_visualizers"
+package_name = "autoware_adapi_visualizers"
 
 setup(
     name=package_name,
@@ -22,10 +22,10 @@
     zip_safe=True,
     maintainer="Takagi, Isamu",
     maintainer_email="isamu.takagi@tier4.jp",
-    description="The ad_api_visualizers package",
+    description="The adapi_visualizers package",
     license="Apache License 2.0",
     tests_require=["pytest"],
     entry_points={
-        "console_scripts": ["planning_factors = ad_api_visualizers.planning_factors:main"],
+        "console_scripts": ["planning_factors = autoware_adapi_visualizers.planning_factors:main"],
     },
 )
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/test/test_copyright.py b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/test/test_copyright.py
similarity index 100%
rename from system/default_ad_api_helpers/ad_api_visualizers/test/test_copyright.py
rename to system/autoware_default_adapi_helpers/autoware_adapi_visualizers/test/test_copyright.py
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/test/test_pep257.py b/system/autoware_default_adapi_helpers/autoware_adapi_visualizers/test/test_pep257.py
similarity index 100%
rename from system/default_ad_api_helpers/ad_api_visualizers/test/test_pep257.py
rename to system/autoware_default_adapi_helpers/autoware_adapi_visualizers/test/test_pep257.py
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/CHANGELOG.rst
similarity index 100%
rename from system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst
rename to system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/CHANGELOG.rst
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/CMakeLists.txt
similarity index 74%
rename from system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt
rename to system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/CMakeLists.txt
index b777df8675bef..0e0b604d57935 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt
+++ b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(automatic_pose_initializer)
+project(autoware_automatic_pose_initializer)
 
 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 "automatic_pose_initializer::AutomaticPoseInitializer"
+  PLUGIN "autoware::automatic_pose_initializer::AutomaticPoseInitializer"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR MultiThreadedExecutor
 )
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/README.md b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/README.md
similarity index 100%
rename from system/default_ad_api_helpers/automatic_pose_initializer/README.md
rename to system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/README.md
diff --git a/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml
new file mode 100644
index 0000000000000..0c4f62891c67a
--- /dev/null
+++ b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml
@@ -0,0 +1,6 @@
+<launch>
+  <group>
+    <push-ros-namespace namespace="default_adapi/helpers"/>
+    <node pkg="autoware_automatic_pose_initializer" exec="autoware_automatic_pose_initializer_node"/>
+  </group>
+</launch>
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/package.xml
similarity index 89%
rename from system/default_ad_api_helpers/automatic_pose_initializer/package.xml
rename to system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/package.xml
index 13f15d7dc63fd..606d0237b2d5d 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
+++ b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/package.xml
@@ -1,12 +1,13 @@
 <?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>automatic_pose_initializer</name>
+  <name>autoware_automatic_pose_initializer</name>
   <version>0.40.0</version>
   <description>The automatic_pose_initializer package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/src/automatic_pose_initializer.cpp
similarity index 86%
rename from system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp
rename to system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/src/automatic_pose_initializer.cpp
index 53943af1a3f31..192eeae356e51 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp
+++ b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/src/automatic_pose_initializer.cpp
@@ -16,11 +16,11 @@
 
 #include <memory>
 
-namespace automatic_pose_initializer
+namespace autoware::automatic_pose_initializer
 {
 
 AutomaticPoseInitializer::AutomaticPoseInitializer(const rclcpp::NodeOptions & options)
-: Node("automatic_pose_initializer", options)
+: Node("autoware_automatic_pose_initializer", options)
 {
   const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
   group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -47,7 +47,7 @@ void AutomaticPoseInitializer::on_timer()
   timer_->reset();
 }
 
-}  // namespace automatic_pose_initializer
+}  // namespace autoware::automatic_pose_initializer
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(automatic_pose_initializer::AutomaticPoseInitializer)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::automatic_pose_initializer::AutomaticPoseInitializer)
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/src/automatic_pose_initializer.hpp
similarity index 93%
rename from system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp
rename to system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/src/automatic_pose_initializer.hpp
index a22a19cc592d2..407a23a6d01e5 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp
+++ b/system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/src/automatic_pose_initializer.hpp
@@ -19,7 +19,7 @@
 #include <autoware/component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-namespace automatic_pose_initializer
+namespace autoware::automatic_pose_initializer
 {
 
 class AutomaticPoseInitializer : public rclcpp::Node
@@ -38,6 +38,6 @@ class AutomaticPoseInitializer : public rclcpp::Node
   State::Message state_;
 };
 
-}  // namespace automatic_pose_initializer
+}  // namespace autoware::automatic_pose_initializer
 
 #endif  // AUTOMATIC_POSE_INITIALIZER_HPP_
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/launch/ad_api_visualizers.launch.xml b/system/default_ad_api_helpers/ad_api_visualizers/launch/ad_api_visualizers.launch.xml
deleted file mode 100644
index 26fb4720ca435..0000000000000
--- a/system/default_ad_api_helpers/ad_api_visualizers/launch/ad_api_visualizers.launch.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-  <node pkg="ad_api_visualizers" name="planning_factors" exec="planning_factors">
-    <param name="front_offset" value="0.0"/>
-  </node>
-</launch>
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/setup.cfg b/system/default_ad_api_helpers/ad_api_visualizers/setup.cfg
deleted file mode 100644
index b0af17360079d..0000000000000
--- a/system/default_ad_api_helpers/ad_api_visualizers/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/ad_api_visualizers
-[install]
-install_scripts=$base/lib/ad_api_visualizers
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml b/system/default_ad_api_helpers/automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml
deleted file mode 100644
index e9a94efd6be7b..0000000000000
--- a/system/default_ad_api_helpers/automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-  <group>
-    <push-ros-namespace namespace="default_ad_api/helpers"/>
-    <node pkg="automatic_pose_initializer" exec="automatic_pose_initializer_node"/>
-  </group>
-</launch>