diff --git a/autoware_lanelet2_extension/README.md b/autoware_lanelet2_extension/README.md
index f66b6c1..2c7badc 100644
--- a/autoware_lanelet2_extension/README.md
+++ b/autoware_lanelet2_extension/README.md
@@ -1,4 +1,4 @@
-# lanelet2_extension package
+# autoware_lanelet2_extension package
 
 This package contains external library for Lanelet2 and is meant to ease the use of Lanelet2 in Autoware.
 
diff --git a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp
index f175d23..9c5dfd9 100644
--- a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp
+++ b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp
@@ -19,7 +19,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include <lanelet2_extension/regulatory_elements/Forward.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/Forward.hpp>
 
 #include <lanelet2_core/Forward.h>
 #include <lanelet2_core/primitives/Lanelet.h>
diff --git a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp
index f6cec39..f55af5f 100644
--- a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp
+++ b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp
@@ -17,7 +17,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include <lanelet2_extension/regulatory_elements/Forward.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/Forward.hpp>
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
diff --git a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/detection_area.hpp b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/detection_area.hpp
index 698ab38..4945a5d 100644
--- a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/detection_area.hpp
+++ b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/detection_area.hpp
@@ -19,7 +19,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include <lanelet2_extension/regulatory_elements/Forward.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/Forward.hpp>
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
diff --git a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp
index 8ef43fa..5711300 100644
--- a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp
+++ b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp
@@ -17,7 +17,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include <lanelet2_extension/regulatory_elements/Forward.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/Forward.hpp>
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
diff --git a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp
index eaf263b..4400832 100644
--- a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp
+++ b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp
@@ -17,7 +17,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include <lanelet2_extension/regulatory_elements/Forward.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/Forward.hpp>
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
diff --git a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/road_marking.hpp b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/road_marking.hpp
index 0fc4142..8d54249 100644
--- a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/road_marking.hpp
+++ b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/road_marking.hpp
@@ -17,7 +17,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include <lanelet2_extension/regulatory_elements/Forward.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/Forward.hpp>
 
 #include <lanelet2_core/primitives/LineString.h>
 
diff --git a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp
index 59c8d55..b0b4f93 100644
--- a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp
+++ b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp
@@ -19,7 +19,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include <lanelet2_extension/regulatory_elements/Forward.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/Forward.hpp>
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
diff --git a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp
index fdbb633..4f90907 100644
--- a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp
+++ b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp
@@ -17,7 +17,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include <lanelet2_extension/regulatory_elements/Forward.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/Forward.hpp>
 
 #include <lanelet2_core/primitives/LineString.h>
 
diff --git a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/utility/query.hpp b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/utility/query.hpp
index b094a2b..53c8dbc 100644
--- a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/utility/query.hpp
+++ b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/utility/query.hpp
@@ -19,12 +19,12 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
-#include "lanelet2_extension/regulatory_elements/crosswalk.hpp"
-#include "lanelet2_extension/regulatory_elements/detection_area.hpp"
-#include "lanelet2_extension/regulatory_elements/no_parking_area.hpp"
-#include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
-#include "lanelet2_extension/regulatory_elements/speed_bump.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/detection_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp"
 
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
diff --git a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/visualization/visualization.hpp b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/visualization/visualization.hpp
index c904c43..9765589 100644
--- a/autoware_lanelet2_extension/include/autoware_lanelet2_extension/visualization/visualization.hpp
+++ b/autoware_lanelet2_extension/include/autoware_lanelet2_extension/visualization/visualization.hpp
@@ -19,10 +19,10 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
-#include "lanelet2_extension/regulatory_elements/no_parking_area.hpp"
-#include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
-#include "lanelet2_extension/utility/query.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
+#include "autoware_lanelet2_extension/utility/query.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/autoware_lanelet2_extension/lib/autoware_osm_parser.cpp b/autoware_lanelet2_extension/lib/autoware_osm_parser.cpp
index 5c27200..268695f 100644
--- a/autoware_lanelet2_extension/lib/autoware_osm_parser.cpp
+++ b/autoware_lanelet2_extension/lib/autoware_osm_parser.cpp
@@ -16,7 +16,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/io/autoware_osm_parser.hpp"
+#include "autoware_lanelet2_extension/io/autoware_osm_parser.hpp"
 
 #include <lanelet2_core/geometry/LineString.h>
 #include <lanelet2_io/io_handlers/Factory.h>
diff --git a/autoware_lanelet2_extension/lib/autoware_traffic_light.cpp b/autoware_lanelet2_extension/lib/autoware_traffic_light.cpp
index b0ab77a..482b2e1 100644
--- a/autoware_lanelet2_extension/lib/autoware_traffic_light.cpp
+++ b/autoware_lanelet2_extension/lib/autoware_traffic_light.cpp
@@ -16,7 +16,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
 
 #include <boost/variant.hpp>
 
diff --git a/autoware_lanelet2_extension/lib/crosswalk.cpp b/autoware_lanelet2_extension/lib/crosswalk.cpp
index 19cb5ff..cdacd5a 100644
--- a/autoware_lanelet2_extension/lib/crosswalk.cpp
+++ b/autoware_lanelet2_extension/lib/crosswalk.cpp
@@ -14,7 +14,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/crosswalk.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp"
 
 #include <boost/variant.hpp>
 
diff --git a/autoware_lanelet2_extension/lib/detection_area.cpp b/autoware_lanelet2_extension/lib/detection_area.cpp
index ce7fb2d..9cae1fd 100644
--- a/autoware_lanelet2_extension/lib/detection_area.cpp
+++ b/autoware_lanelet2_extension/lib/detection_area.cpp
@@ -16,7 +16,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/detection_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/detection_area.hpp"
 
 #include <boost/variant.hpp>
 
diff --git a/autoware_lanelet2_extension/lib/landmark.cpp b/autoware_lanelet2_extension/lib/landmark.cpp
index 021103a..9c349aa 100644
--- a/autoware_lanelet2_extension/lib/landmark.cpp
+++ b/autoware_lanelet2_extension/lib/landmark.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "lanelet2_extension/localization/landmark.hpp"
+#include "autoware_lanelet2_extension/localization/landmark.hpp"
 
-#include "lanelet2_extension/utility/message_conversion.hpp"
+#include "autoware_lanelet2_extension/utility/message_conversion.hpp"
 
 #include <Eigen/Core>
 
diff --git a/autoware_lanelet2_extension/lib/message_conversion.cpp b/autoware_lanelet2_extension/lib/message_conversion.cpp
index 53878e7..4d823f0 100644
--- a/autoware_lanelet2_extension/lib/message_conversion.cpp
+++ b/autoware_lanelet2_extension/lib/message_conversion.cpp
@@ -16,9 +16,9 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/utility/message_conversion.hpp"
+#include "autoware_lanelet2_extension/utility/message_conversion.hpp"
 
-#include "lanelet2_extension/projection/mgrs_projector.hpp"
+#include "autoware_lanelet2_extension/projection/mgrs_projector.hpp"
 
 #include <boost/archive/binary_iarchive.hpp>
 #include <boost/archive/binary_oarchive.hpp>
diff --git a/autoware_lanelet2_extension/lib/mgrs_projector.cpp b/autoware_lanelet2_extension/lib/mgrs_projector.cpp
index 891df1b..5d579c7 100644
--- a/autoware_lanelet2_extension/lib/mgrs_projector.cpp
+++ b/autoware_lanelet2_extension/lib/mgrs_projector.cpp
@@ -16,7 +16,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/projection/mgrs_projector.hpp"
+#include "autoware_lanelet2_extension/projection/mgrs_projector.hpp"
 
 #include <iostream>
 #include <set>
diff --git a/autoware_lanelet2_extension/lib/no_parking_area.cpp b/autoware_lanelet2_extension/lib/no_parking_area.cpp
index ee282ba..913edc1 100644
--- a/autoware_lanelet2_extension/lib/no_parking_area.cpp
+++ b/autoware_lanelet2_extension/lib/no_parking_area.cpp
@@ -14,7 +14,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/no_parking_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp"
 
 #include <boost/variant.hpp>
 
diff --git a/autoware_lanelet2_extension/lib/no_stopping_area.cpp b/autoware_lanelet2_extension/lib/no_stopping_area.cpp
index afade90..3825557 100644
--- a/autoware_lanelet2_extension/lib/no_stopping_area.cpp
+++ b/autoware_lanelet2_extension/lib/no_stopping_area.cpp
@@ -14,7 +14,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
 
 #include <boost/variant.hpp>
 
diff --git a/autoware_lanelet2_extension/lib/query.cpp b/autoware_lanelet2_extension/lib/query.cpp
index a505c12..535ccb7 100644
--- a/autoware_lanelet2_extension/lib/query.cpp
+++ b/autoware_lanelet2_extension/lib/query.cpp
@@ -16,16 +16,16 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/utility/query.hpp"
-
-#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
-#include "lanelet2_extension/regulatory_elements/crosswalk.hpp"
-#include "lanelet2_extension/regulatory_elements/detection_area.hpp"
-#include "lanelet2_extension/regulatory_elements/no_parking_area.hpp"
-#include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
-#include "lanelet2_extension/regulatory_elements/speed_bump.hpp"
-#include "lanelet2_extension/utility/message_conversion.hpp"
-#include "lanelet2_extension/utility/utilities.hpp"
+#include "autoware_lanelet2_extension/utility/query.hpp"
+
+#include "autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/detection_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp"
+#include "autoware_lanelet2_extension/utility/message_conversion.hpp"
+#include "autoware_lanelet2_extension/utility/utilities.hpp"
 
 #include <Eigen/Eigen>
 #include <autoware_utils/autoware_utils.hpp>
diff --git a/autoware_lanelet2_extension/lib/road_marking.cpp b/autoware_lanelet2_extension/lib/road_marking.cpp
index d514f7a..05e9d70 100644
--- a/autoware_lanelet2_extension/lib/road_marking.cpp
+++ b/autoware_lanelet2_extension/lib/road_marking.cpp
@@ -14,7 +14,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/road_marking.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/road_marking.hpp"
 
 #include <boost/variant.hpp>
 
diff --git a/autoware_lanelet2_extension/lib/route_checker.cpp b/autoware_lanelet2_extension/lib/route_checker.cpp
index 796cfaf..7a6269a 100644
--- a/autoware_lanelet2_extension/lib/route_checker.cpp
+++ b/autoware_lanelet2_extension/lib/route_checker.cpp
@@ -14,10 +14,10 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/utility/route_checker.hpp"
+#include "autoware_lanelet2_extension/utility/route_checker.hpp"
 
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/query.hpp>
+#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
+#include <autoware_lanelet2_extension/utility/query.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
 
diff --git a/autoware_lanelet2_extension/lib/speed_bump.cpp b/autoware_lanelet2_extension/lib/speed_bump.cpp
index 22e7c2b..708e72d 100644
--- a/autoware_lanelet2_extension/lib/speed_bump.cpp
+++ b/autoware_lanelet2_extension/lib/speed_bump.cpp
@@ -16,7 +16,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/speed_bump.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp"
 
 #include <boost/variant.hpp>
 
diff --git a/autoware_lanelet2_extension/lib/transverse_mercator_projector.cpp b/autoware_lanelet2_extension/lib/transverse_mercator_projector.cpp
index 1bc5f8b..0534574 100644
--- a/autoware_lanelet2_extension/lib/transverse_mercator_projector.cpp
+++ b/autoware_lanelet2_extension/lib/transverse_mercator_projector.cpp
@@ -14,7 +14,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming, cppcoreguidelines-pro-type-member-init)
 
-#include "lanelet2_extension/projection/transverse_mercator_projector.hpp"
+#include "autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp"
 
 #include <iostream>
 #include <set>
diff --git a/autoware_lanelet2_extension/lib/utilities.cpp b/autoware_lanelet2_extension/lib/utilities.cpp
index 8dbf514..73ef88c 100644
--- a/autoware_lanelet2_extension/lib/utilities.cpp
+++ b/autoware_lanelet2_extension/lib/utilities.cpp
@@ -16,10 +16,10 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/utility/utilities.hpp"
+#include "autoware_lanelet2_extension/utility/utilities.hpp"
 
-#include "lanelet2_extension/utility/message_conversion.hpp"
-#include "lanelet2_extension/utility/query.hpp"
+#include "autoware_lanelet2_extension/utility/message_conversion.hpp"
+#include "autoware_lanelet2_extension/utility/query.hpp"
 
 #include <lanelet2_core/geometry/Lanelet.h>
 #include <lanelet2_core/geometry/LineString.h>
@@ -435,7 +435,7 @@ lanelet::ConstLanelet getExpandedLanelet(
     checkForInversion(orig_right_bound_2d, expanded_right_bound_2d, right_offset);
   } catch (const lanelet::GeometryError & e) {
     RCLCPP_ERROR_THROTTLE(
-      rclcpp::get_logger("lanelet2_extension"), clock, 1000,
+      rclcpp::get_logger("autoware_lanelet2_extension"), clock, 1000,
       "Fail to expand lanelet. output may be undesired. Lanelet points interval in map data could "
       "be too narrow.");
   }
@@ -572,14 +572,14 @@ bool lineStringToPolygon(
 {
   if (polygon == nullptr) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("lanelet2_extension.visualization"),
+      rclcpp::get_logger("autoware_lanelet2_extension.visualization"),
       __func__ << ": polygon is null pointer! Failed to convert to polygon.");
     return false;
   }
   if (linestring.size() < 4) {
     if (linestring.size() < 3 || linestring.front().id() == linestring.back().id()) {
       RCLCPP_WARN_STREAM(
-        rclcpp::get_logger("lanelet2_extension.visualization"),
+        rclcpp::get_logger("autoware_lanelet2_extension.visualization"),
         __func__ << ": linestring" << linestring.id()
                  << " must have more than different 3 points! (size is " << linestring.size()
                  << "). Failed to convert to polygon.");
diff --git a/autoware_lanelet2_extension/lib/virtual_traffic_light.cpp b/autoware_lanelet2_extension/lib/virtual_traffic_light.cpp
index 7bf2f21..fbe3696 100644
--- a/autoware_lanelet2_extension/lib/virtual_traffic_light.cpp
+++ b/autoware_lanelet2_extension/lib/virtual_traffic_light.cpp
@@ -14,7 +14,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp"
 
 #include <boost/variant.hpp>
 
diff --git a/autoware_lanelet2_extension/lib/visualization.cpp b/autoware_lanelet2_extension/lib/visualization.cpp
index 0c48008..797a88d 100644
--- a/autoware_lanelet2_extension/lib/visualization.cpp
+++ b/autoware_lanelet2_extension/lib/visualization.cpp
@@ -16,14 +16,14 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/visualization/visualization.hpp"
+#include "autoware_lanelet2_extension/visualization/visualization.hpp"
 
-#include "lanelet2_extension/regulatory_elements/crosswalk.hpp"
-#include "lanelet2_extension/regulatory_elements/detection_area.hpp"
-#include "lanelet2_extension/regulatory_elements/speed_bump.hpp"
-#include "lanelet2_extension/utility/message_conversion.hpp"
-#include "lanelet2_extension/utility/query.hpp"
-#include "lanelet2_extension/utility/utilities.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/detection_area.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp"
+#include "autoware_lanelet2_extension/utility/message_conversion.hpp"
+#include "autoware_lanelet2_extension/utility/query.hpp"
+#include "autoware_lanelet2_extension/utility/utilities.hpp"
 
 #include <Eigen/Eigen>
 
@@ -991,7 +991,7 @@ visualization_msgs::msg::MarkerArray visualization::pedestrianPolygonMarkingsAsM
       pushPolygonMarker(&polygon_marker, polygon, c);
     } else {
       RCLCPP_WARN_STREAM(
-        rclcpp::get_logger("lanelet2_extension.visualization"),
+        rclcpp::get_logger("autoware_lanelet2_extension.visualization"),
         "pedestrian marking " << linestring.id() << " failed conversion.");
     }
   }
@@ -1387,7 +1387,7 @@ void visualization::initLineStringMarker(
 {
   if (marker == nullptr) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("lanelet2_extension.visualization"),
+      rclcpp::get_logger("autoware_lanelet2_extension.visualization"),
       __FUNCTION__ << ": marker is null pointer!");
     return;
   }
@@ -1416,7 +1416,7 @@ void visualization::pushLineStringMarker(
 {
   if (marker == nullptr) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("lanelet2_extension.visualization"),
+      rclcpp::get_logger("autoware_lanelet2_extension.visualization"),
       __FUNCTION__ << ": marker is null pointer!");
     return;
   }
@@ -1424,7 +1424,7 @@ void visualization::pushLineStringMarker(
   // fill out lane line
   if (ls.size() < 2) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("lanelet2_extension.visualization"),
+      rclcpp::get_logger("autoware_lanelet2_extension.visualization"),
       __FUNCTION__ << ": marker line size is 1 or 0!");
     return;
   }
@@ -1471,7 +1471,7 @@ void visualization::initArrowsMarker(
 {
   if (marker == nullptr) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("lanelet2_extension.visualization"),
+      rclcpp::get_logger("autoware_lanelet2_extension.visualization"),
       __FUNCTION__ << ": marker is null pointer!");
     return;
   }
@@ -1500,7 +1500,7 @@ void visualization::pushArrowsMarker(
 {
   if (marker == nullptr) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("lanelet2_extension.visualization"),
+      rclcpp::get_logger("autoware_lanelet2_extension.visualization"),
       __FUNCTION__ << ": marker is null pointer!");
     return;
   }
@@ -1508,7 +1508,7 @@ void visualization::pushArrowsMarker(
   // fill out lane line
   if (ls.size() < 2) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("lanelet2_extension.visualization"),
+      rclcpp::get_logger("autoware_lanelet2_extension.visualization"),
       __FUNCTION__ << ": marker line size is 1 or 0!");
     return;
   }
diff --git a/autoware_lanelet2_extension/src/check_right_of_way.cpp b/autoware_lanelet2_extension/src/check_right_of_way.cpp
index 8b2a8be..36f5409 100644
--- a/autoware_lanelet2_extension/src/check_right_of_way.cpp
+++ b/autoware_lanelet2_extension/src/check_right_of_way.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <lanelet2_extension/projection/mgrs_projector.hpp>
-#include <lanelet2_extension/utility/query.hpp>
-#include <lanelet2_extension/utility/utilities.hpp>
+#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
+#include <autoware_lanelet2_extension/utility/query.hpp>
+#include <autoware_lanelet2_extension/utility/utilities.hpp>
 #include <range/v3/algorithm/move.hpp>
 #include <range/v3/core.hpp>
 #include <range/v3/functional/overload.hpp>
@@ -38,7 +38,7 @@
 int main(int argc, char ** argv)
 {
   if (argc < 2) {
-    std::cout << "usage: ros2 run lanelet2_extension check_right_of_way <map_path>";
+    std::cout << "usage: ros2 run autoware_lanelet2_extension check_right_of_way <map_path>";
     return 0;
   }
 
diff --git a/autoware_lanelet2_extension/src/sample_code.cpp b/autoware_lanelet2_extension/src/sample_code.cpp
index d4595fb..fa1124d 100644
--- a/autoware_lanelet2_extension/src/sample_code.cpp
+++ b/autoware_lanelet2_extension/src/sample_code.cpp
@@ -14,8 +14,8 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/projection/mgrs_projector.hpp"
-#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
+#include "autoware_lanelet2_extension/projection/mgrs_projector.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/autoware_lanelet2_extension/src/validation.cpp b/autoware_lanelet2_extension/src/validation.cpp
index 4b08714..3561e11 100644
--- a/autoware_lanelet2_extension/src/validation.cpp
+++ b/autoware_lanelet2_extension/src/validation.cpp
@@ -14,8 +14,8 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/projection/mgrs_projector.hpp"
-#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
+#include "autoware_lanelet2_extension/projection/mgrs_projector.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
 
 #include <pugixml.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -47,7 +47,7 @@ constexpr const char * Elevation = "ele";
 void printUsage()
 {
   std::cout << "Usage:" << std::endl
-            << "ros2 run lanelet2_extension autoware_lanelet2_validation"
+            << "ros2 run autoware_lanelet2_extension autoware_lanelet2_validation"
                " --ros-args -p map_file:=<path to osm file>"
             << std::endl;
 }
diff --git a/autoware_lanelet2_extension/test/src/test_message_conversion.cpp b/autoware_lanelet2_extension/test/src/test_message_conversion.cpp
index 4f31ab5..7643262 100644
--- a/autoware_lanelet2_extension/test/src/test_message_conversion.cpp
+++ b/autoware_lanelet2_extension/test/src/test_message_conversion.cpp
@@ -14,8 +14,8 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/utility/message_conversion.hpp"
-#include "lanelet2_extension/utility/query.hpp"
+#include "autoware_lanelet2_extension/utility/message_conversion.hpp"
+#include "autoware_lanelet2_extension/utility/query.hpp"
 
 #include <gtest/gtest.h>
 #include <lanelet2_core/LaneletMap.h>
diff --git a/autoware_lanelet2_extension/test/src/test_projector.cpp b/autoware_lanelet2_extension/test/src/test_projector.cpp
index 3f3e7b8..acf08ac 100644
--- a/autoware_lanelet2_extension/test/src/test_projector.cpp
+++ b/autoware_lanelet2_extension/test/src/test_projector.cpp
@@ -14,8 +14,8 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/projection/mgrs_projector.hpp"
-#include "lanelet2_extension/projection/transverse_mercator_projector.hpp"
+#include "autoware_lanelet2_extension/projection/mgrs_projector.hpp"
+#include "autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp"
 
 #include <gtest/gtest.h>
 #include <lanelet2_io/Projection.h>
diff --git a/autoware_lanelet2_extension/test/src/test_query.cpp b/autoware_lanelet2_extension/test/src/test_query.cpp
index 3fa73cf..ec9b570 100644
--- a/autoware_lanelet2_extension/test/src/test_query.cpp
+++ b/autoware_lanelet2_extension/test/src/test_query.cpp
@@ -14,8 +14,8 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
-#include "lanelet2_extension/utility/query.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
+#include "autoware_lanelet2_extension/utility/query.hpp"
 
 #include <gtest/gtest.h>
 #include <lanelet2_core/LaneletMap.h>
diff --git a/autoware_lanelet2_extension/test/src/test_regulatory_elements.cpp b/autoware_lanelet2_extension/test/src/test_regulatory_elements.cpp
index 7037e95..3d67cf8 100644
--- a/autoware_lanelet2_extension/test/src/test_regulatory_elements.cpp
+++ b/autoware_lanelet2_extension/test/src/test_regulatory_elements.cpp
@@ -14,7 +14,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
+#include "autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp"
 
 #include <gtest/gtest.h>
 #include <lanelet2_core/Attribute.h>
diff --git a/autoware_lanelet2_extension/test/src/test_route_checker.cpp b/autoware_lanelet2_extension/test/src/test_route_checker.cpp
index 660d33e..12525fa 100644
--- a/autoware_lanelet2_extension/test/src/test_route_checker.cpp
+++ b/autoware_lanelet2_extension/test/src/test_route_checker.cpp
@@ -14,8 +14,8 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include "lanelet2_extension/utility/message_conversion.hpp"
-#include "lanelet2_extension/utility/route_checker.hpp"
+#include "autoware_lanelet2_extension/utility/message_conversion.hpp"
+#include "autoware_lanelet2_extension/utility/route_checker.hpp"
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
diff --git a/autoware_lanelet2_extension/test/src/test_utilities.cpp b/autoware_lanelet2_extension/test/src/test_utilities.cpp
index 4d53c03..4f135e2 100644
--- a/autoware_lanelet2_extension/test/src/test_utilities.cpp
+++ b/autoware_lanelet2_extension/test/src/test_utilities.cpp
@@ -14,7 +14,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming, cppcoreguidelines-avoid-goto)
 
-#include "lanelet2_extension/utility/utilities.hpp"
+#include "autoware_lanelet2_extension/utility/utilities.hpp"
 
 #include <gtest/gtest.h>
 #include <lanelet2_core/primitives/Point.h>