diff --git a/map/map_loader/CMakeLists.txt b/map/autoware_map_loader/CMakeLists.txt
similarity index 98%
rename from map/map_loader/CMakeLists.txt
rename to map/autoware_map_loader/CMakeLists.txt
index 115f7e5b17464..262524cd5f288 100644
--- a/map/map_loader/CMakeLists.txt
+++ b/map/autoware_map_loader/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(map_loader)
+project(autoware_map_loader)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/map/map_loader/README.md b/map/autoware_map_loader/README.md
similarity index 100%
rename from map/map_loader/README.md
rename to map/autoware_map_loader/README.md
diff --git a/map/map_loader/config/lanelet2_map_loader.param.yaml b/map/autoware_map_loader/config/lanelet2_map_loader.param.yaml
similarity index 100%
rename from map/map_loader/config/lanelet2_map_loader.param.yaml
rename to map/autoware_map_loader/config/lanelet2_map_loader.param.yaml
diff --git a/map/map_loader/config/pointcloud_map_loader.param.yaml b/map/autoware_map_loader/config/pointcloud_map_loader.param.yaml
similarity index 100%
rename from map/map_loader/config/pointcloud_map_loader.param.yaml
rename to map/autoware_map_loader/config/pointcloud_map_loader.param.yaml
diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/autoware_map_loader/include/autoware_map_loader/lanelet2_map_loader_node.hpp
similarity index 90%
rename from map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
rename to map/autoware_map_loader/include/autoware_map_loader/lanelet2_map_loader_node.hpp
index 4e85ddec056c1..77725958fa583 100644
--- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
+++ b/map/autoware_map_loader/include/autoware_map_loader/lanelet2_map_loader_node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
-#define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
+#ifndef AUTOWARE_MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
+#define AUTOWARE_MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
 
 #include <component_interface_specs/map.hpp>
 #include <component_interface_utils/rclcpp.hpp>
@@ -51,4 +51,4 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
   rclcpp::Publisher<LaneletMapBin>::SharedPtr pub_map_bin_;
 };
 
-#endif  // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
+#endif  // AUTOWARE_MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
diff --git a/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp b/map/autoware_map_loader/include/autoware_map_loader/lanelet2_map_visualization_node.hpp
similarity index 85%
rename from map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp
rename to map/autoware_map_loader/include/autoware_map_loader/lanelet2_map_visualization_node.hpp
index cb640e4dc83d5..81e35aa4d7fa8 100644
--- a/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp
+++ b/map/autoware_map_loader/include/autoware_map_loader/lanelet2_map_visualization_node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
-#define MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
+#ifndef AUTOWARE_MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
+#define AUTOWARE_MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -37,4 +37,4 @@ class Lanelet2MapVisualizationNode : public rclcpp::Node
   void onMapBin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg);
 };
 
-#endif  // MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
+#endif  // AUTOWARE_MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
diff --git a/map/map_loader/launch/lanelet2_map_loader.launch.xml b/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml
similarity index 100%
rename from map/map_loader/launch/lanelet2_map_loader.launch.xml
rename to map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml
diff --git a/map/map_loader/launch/pointcloud_map_loader.launch.xml b/map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml
similarity index 100%
rename from map/map_loader/launch/pointcloud_map_loader.launch.xml
rename to map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml
diff --git a/map/map_loader/package.xml b/map/autoware_map_loader/package.xml
similarity index 98%
rename from map/map_loader/package.xml
rename to map/autoware_map_loader/package.xml
index a6f4ac7f81275..ad95915fb89e6 100644
--- a/map/map_loader/package.xml
+++ b/map/autoware_map_loader/package.xml
@@ -1,7 +1,7 @@
 <?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>map_loader</name>
+  <name>autoware_map_loader</name>
   <version>0.1.0</version>
   <description>The map_loader package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/autoware_map_loader/schema/lanelet2_map_loader.schema.json
similarity index 100%
rename from map/map_loader/schema/lanelet2_map_loader.schema.json
rename to map/autoware_map_loader/schema/lanelet2_map_loader.schema.json
diff --git a/map/map_loader/schema/pointcloud_map_loader.schema.json b/map/autoware_map_loader/schema/pointcloud_map_loader.schema.json
similarity index 100%
rename from map/map_loader/schema/pointcloud_map_loader.schema.json
rename to map/autoware_map_loader/schema/pointcloud_map_loader.schema.json
diff --git a/map/map_loader/script/map_hash_generator b/map/autoware_map_loader/script/map_hash_generator
similarity index 100%
rename from map/map_loader/script/map_hash_generator
rename to map/autoware_map_loader/script/map_hash_generator
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp
similarity index 100%
rename from map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp
rename to map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
similarity index 98%
rename from map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
rename to map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
index b097e1809a385..48e8dba74587e 100644
--- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
+++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
@@ -31,7 +31,7 @@
  *
  */
 
-#include "map_loader/lanelet2_map_loader_node.hpp"
+#include "autoware_map_loader/lanelet2_map_loader_node.hpp"
 
 #include "lanelet2_local_projector.hpp"
 
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
similarity index 99%
rename from map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
rename to map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
index c81236bec86c0..2fbb930cbfb76 100644
--- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
+++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
@@ -31,7 +31,7 @@
  *
  */
 
-#include "map_loader/lanelet2_map_visualization_node.hpp"
+#include "autoware_map_loader/lanelet2_map_visualization_node.hpp"
 
 #include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp
diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp
diff --git a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp
diff --git a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp
diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp
diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp
diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp
diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp
diff --git a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp
diff --git a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp
diff --git a/map/map_loader/src/pointcloud_map_loader/utils.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/utils.cpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp
diff --git a/map/map_loader/src/pointcloud_map_loader/utils.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp
similarity index 100%
rename from map/map_loader/src/pointcloud_map_loader/utils.hpp
rename to map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp
diff --git a/map/map_loader/test/data/test_map.osm b/map/autoware_map_loader/test/data/test_map.osm
similarity index 100%
rename from map/map_loader/test/data/test_map.osm
rename to map/autoware_map_loader/test/data/test_map.osm
diff --git a/map/map_loader/test/lanelet2_map_loader_launch.test.py b/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py
similarity index 93%
rename from map/map_loader/test/lanelet2_map_loader_launch.test.py
rename to map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py
index f1aa9e0efe922..7c50ba15ce459 100644
--- a/map/map_loader/test/lanelet2_map_loader_launch.test.py
+++ b/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py
@@ -28,11 +28,11 @@
 @pytest.mark.launch_test
 def generate_test_description():
     lanelet2_map_path = os.path.join(
-        get_package_share_directory("map_loader"), "test/data/test_map.osm"
+        get_package_share_directory("autoware_map_loader"), "test/data/test_map.osm"
     )
 
     lanelet2_map_loader = Node(
-        package="map_loader",
+        package="autoware_map_loader",
         executable="lanelet2_map_loader",
         parameters=[{"lanelet2_map_path": lanelet2_map_path, "center_line_resolution": 5.0}],
     )
diff --git a/map/map_loader/test/test_cylinder_box_overlap.cpp b/map/autoware_map_loader/test/test_cylinder_box_overlap.cpp
similarity index 100%
rename from map/map_loader/test/test_cylinder_box_overlap.cpp
rename to map/autoware_map_loader/test/test_cylinder_box_overlap.cpp
diff --git a/map/map_loader/test/test_differential_map_loader_module.cpp b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp
similarity index 100%
rename from map/map_loader/test/test_differential_map_loader_module.cpp
rename to map/autoware_map_loader/test/test_differential_map_loader_module.cpp
diff --git a/map/map_loader/test/test_load_pcd_metadata.cpp b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp
similarity index 100%
rename from map/map_loader/test/test_load_pcd_metadata.cpp
rename to map/autoware_map_loader/test/test_load_pcd_metadata.cpp
diff --git a/map/map_loader/test/test_partial_map_loader_module.cpp b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp
similarity index 100%
rename from map/map_loader/test/test_partial_map_loader_module.cpp
rename to map/autoware_map_loader/test/test_partial_map_loader_module.cpp
diff --git a/map/map_loader/test/test_pointcloud_map_loader_module.cpp b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp
similarity index 100%
rename from map/map_loader/test/test_pointcloud_map_loader_module.cpp
rename to map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp
diff --git a/map/map_loader/test/test_replace_with_absolute_path.cpp b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp
similarity index 100%
rename from map/map_loader/test/test_replace_with_absolute_path.cpp
rename to map/autoware_map_loader/test/test_replace_with_absolute_path.cpp