diff --git a/common/autoware_point_types/include/autoware_point_types/types.hpp b/common/autoware_point_types/include/autoware/point_types/types.hpp
similarity index 94%
rename from common/autoware_point_types/include/autoware_point_types/types.hpp
rename to common/autoware_point_types/include/autoware/point_types/types.hpp
index a3b0670280530..0fde62222e276 100644
--- a/common/autoware_point_types/include/autoware_point_types/types.hpp
+++ b/common/autoware_point_types/include/autoware/point_types/types.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_POINT_TYPES__TYPES_HPP_
-#define AUTOWARE_POINT_TYPES__TYPES_HPP_
+#ifndef AUTOWARE__POINT_TYPES__TYPES_HPP_
+#define AUTOWARE__POINT_TYPES__TYPES_HPP_
 
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
@@ -22,7 +22,7 @@
 #include <cmath>
 #include <tuple>
 
-namespace autoware_point_types
+namespace autoware::point_types
 {
 template <class T>
 bool float_eq(const T a, const T b, const T eps = 10e-6)
@@ -166,23 +166,23 @@ using PointXYZIRCAEDTGenerator = std::tuple<
   field_return_type_generator, field_channel_generator, field_azimuth_generator,
   field_elevation_generator, field_distance_generator, field_time_stamp_generator>;
 
-}  // namespace autoware_point_types
+}  // namespace autoware::point_types
 
 POINT_CLOUD_REGISTER_POINT_STRUCT(
-  autoware_point_types::PointXYZIRC,
+  autoware::point_types::PointXYZIRC,
   (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)(
     std::uint8_t, return_type, return_type)(std::uint16_t, channel, channel))
 
 POINT_CLOUD_REGISTER_POINT_STRUCT(
-  autoware_point_types::PointXYZIRADRT,
+  autoware::point_types::PointXYZIRADRT,
   (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint16_t, ring, ring)(
     float, azimuth, azimuth)(float, distance, distance)(std::uint8_t, return_type, return_type)(
     double, time_stamp, time_stamp))
 
 POINT_CLOUD_REGISTER_POINT_STRUCT(
-  autoware_point_types::PointXYZIRCAEDT,
+  autoware::point_types::PointXYZIRCAEDT,
   (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)(
     std::uint8_t, return_type,
     return_type)(std::uint16_t, channel, channel)(float, azimuth, azimuth)(
     float, elevation, elevation)(float, distance, distance)(std::uint32_t, time_stamp, time_stamp))
-#endif  // AUTOWARE_POINT_TYPES__TYPES_HPP_
+#endif  // AUTOWARE__POINT_TYPES__TYPES_HPP_
diff --git a/common/autoware_point_types/test/test_point_types.cpp b/common/autoware_point_types/test/test_point_types.cpp
index 16887ac2aa498..08696a9948f60 100644
--- a/common/autoware_point_types/test/test_point_types.cpp
+++ b/common/autoware_point_types/test/test_point_types.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_point_types/types.hpp"
+#include "autoware/point_types/types.hpp"
 
 #include <gtest/gtest.h>
 
@@ -20,7 +20,7 @@
 
 TEST(PointEquality, PointXYZI)
 {
-  using autoware_point_types::PointXYZI;
+  using autoware::point_types::PointXYZI;
 
   PointXYZI pt0{0, 1, 2, 3};
   PointXYZI pt1{0, 1, 2, 3};
@@ -29,7 +29,7 @@ TEST(PointEquality, PointXYZI)
 
 TEST(PointEquality, PointXYZIRADRT)
 {
-  using autoware_point_types::PointXYZIRADRT;
+  using autoware::point_types::PointXYZIRADRT;
 
   PointXYZIRADRT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8};
   PointXYZIRADRT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8};
@@ -38,7 +38,7 @@ TEST(PointEquality, PointXYZIRADRT)
 
 TEST(PointEquality, PointXYZIRCAEDT)
 {
-  using autoware_point_types::PointXYZIRCAEDT;
+  using autoware::point_types::PointXYZIRCAEDT;
 
   PointXYZIRCAEDT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
   PointXYZIRCAEDT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
@@ -48,19 +48,19 @@ TEST(PointEquality, PointXYZIRCAEDT)
 TEST(PointEquality, FloatEq)
 {
   // test template
-  EXPECT_TRUE(autoware_point_types::float_eq<float>(1, 1));
-  EXPECT_TRUE(autoware_point_types::float_eq<double>(1, 1));
+  EXPECT_TRUE(autoware::point_types::float_eq<float>(1, 1));
+  EXPECT_TRUE(autoware::point_types::float_eq<double>(1, 1));
 
   // test floating point error
-  EXPECT_TRUE(autoware_point_types::float_eq<float>(1, 1 + std::numeric_limits<float>::epsilon()));
+  EXPECT_TRUE(autoware::point_types::float_eq<float>(1, 1 + std::numeric_limits<float>::epsilon()));
 
   // test difference of sign
-  EXPECT_FALSE(autoware_point_types::float_eq<float>(2, -2));
-  EXPECT_FALSE(autoware_point_types::float_eq<float>(-2, 2));
+  EXPECT_FALSE(autoware::point_types::float_eq<float>(2, -2));
+  EXPECT_FALSE(autoware::point_types::float_eq<float>(-2, 2));
 
   // small value difference
-  EXPECT_FALSE(autoware_point_types::float_eq<float>(2, 2 + 10e-6));
+  EXPECT_FALSE(autoware::point_types::float_eq<float>(2, 2 + 10e-6));
 
   // expect same value if epsilon is larger than difference
-  EXPECT_TRUE(autoware_point_types::float_eq<float>(2, 2 + 10e-6, 10e-5));
+  EXPECT_TRUE(autoware::point_types::float_eq<float>(2, 2 + 10e-6, 10e-5));
 }
diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp
index 06d2acf8a55fc..947ba02402697 100644
--- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp
+++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp
@@ -14,9 +14,9 @@
 
 #include "lidar_marker_localizer.hpp"
 
+#include <autoware/point_types/types.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/transform/transforms.hpp>
-#include <autoware_point_types/types.hpp>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/qos.hpp>
 
@@ -338,8 +338,8 @@ std::vector<landmark_manager::Landmark> LidarMarkerLocalizer::detect_landmarks(
   // TODO(YamatoAndo)
   // Transform sensor_frame to base_link
 
-  pcl::PointCloud<autoware_point_types::PointXYZIRC>::Ptr points_ptr(
-    new pcl::PointCloud<autoware_point_types::PointXYZIRC>);
+  pcl::PointCloud<autoware::point_types::PointXYZIRC>::Ptr points_ptr(
+    new pcl::PointCloud<autoware::point_types::PointXYZIRC>);
   pcl::fromROSMsg(*points_msg_ptr, *points_ptr);
 
   if (points_ptr->empty()) {
@@ -347,11 +347,11 @@ std::vector<landmark_manager::Landmark> LidarMarkerLocalizer::detect_landmarks(
     return std::vector<landmark_manager::Landmark>{};
   }
 
-  std::vector<pcl::PointCloud<autoware_point_types::PointXYZIRC>> ring_points(128);
+  std::vector<pcl::PointCloud<autoware::point_types::PointXYZIRC>> ring_points(128);
 
   float min_x = std::numeric_limits<float>::max();
   float max_x = std::numeric_limits<float>::lowest();
-  for (const autoware_point_types::PointXYZIRC & point : points_ptr->points) {
+  for (const autoware::point_types::PointXYZIRC & point : points_ptr->points) {
     ring_points[point.channel].push_back(point);
     min_x = std::min(min_x, point.x);
     max_x = std::max(max_x, point.x);
@@ -365,12 +365,12 @@ std::vector<landmark_manager::Landmark> LidarMarkerLocalizer::detect_landmarks(
   std::vector<float> min_y(bin_num, std::numeric_limits<float>::max());
 
   // for each channel
-  for (const pcl::PointCloud<autoware_point_types::PointXYZIRC> & one_ring : ring_points) {
+  for (const pcl::PointCloud<autoware::point_types::PointXYZIRC> & one_ring : ring_points) {
     std::vector<double> intensity_sum(bin_num, 0.0);
     std::vector<int> intensity_num(bin_num, 0);
     std::vector<double> average_intensity(bin_num, 0.0);
 
-    for (const autoware_point_types::PointXYZIRC & point : one_ring.points) {
+    for (const autoware::point_types::PointXYZIRC & point : one_ring.points) {
       const int bin_index = static_cast<int>((point.x - min_x) / param_.resolution);
       intensity_sum[bin_index] += point.intensity;
       intensity_num[bin_index]++;
@@ -507,15 +507,15 @@ sensor_msgs::msg::PointCloud2::SharedPtr LidarMarkerLocalizer::extract_marker_po
   const geometry_msgs::msg::Pose marker_pose) const
 {
   // convert from ROSMsg to PCL
-  pcl::shared_ptr<pcl::PointCloud<autoware_point_types::PointXYZIRC>> points_ptr(
-    new pcl::PointCloud<autoware_point_types::PointXYZIRC>);
+  pcl::shared_ptr<pcl::PointCloud<autoware::point_types::PointXYZIRC>> points_ptr(
+    new pcl::PointCloud<autoware::point_types::PointXYZIRC>);
   pcl::fromROSMsg(*points_msg_ptr, *points_ptr);
 
-  pcl::shared_ptr<pcl::PointCloud<autoware_point_types::PointXYZIRC>> marker_points_ptr(
-    new pcl::PointCloud<autoware_point_types::PointXYZIRC>);
+  pcl::shared_ptr<pcl::PointCloud<autoware::point_types::PointXYZIRC>> marker_points_ptr(
+    new pcl::PointCloud<autoware::point_types::PointXYZIRC>);
 
   // extract marker pointcloud
-  for (const autoware_point_types::PointXYZIRC & point : points_ptr->points) {
+  for (const autoware::point_types::PointXYZIRC & point : points_ptr->points) {
     const double xy_distance = std::sqrt(
       std::pow(point.x - marker_pose.position.x, 2.0) +
       std::pow(point.y - marker_pose.position.y, 2.0));
@@ -546,8 +546,8 @@ void LidarMarkerLocalizer::save_detected_marker_log(
     marker_points_msg_sensor_frame_ptr);
 
   // convert from ROSMsg to PCL
-  pcl::shared_ptr<pcl::PointCloud<autoware_point_types::PointXYZIRC>>
-    marker_points_sensor_frame_ptr(new pcl::PointCloud<autoware_point_types::PointXYZIRC>);
+  pcl::shared_ptr<pcl::PointCloud<autoware::point_types::PointXYZIRC>>
+    marker_points_sensor_frame_ptr(new pcl::PointCloud<autoware::point_types::PointXYZIRC>);
   pcl::fromROSMsg(*marker_points_msg_sensor_frame_ptr, *marker_points_sensor_frame_ptr);
 
   // to csv format
diff --git a/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp
index 3d4ee272d7eaf..2ed66b9875ef8 100644
--- a/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp
+++ b/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp
@@ -15,7 +15,7 @@
 #include "../src/distance_based_compare_map_filter/node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
@@ -24,8 +24,8 @@
 #include <gtest/gtest.h>
 
 using autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent;
-using autoware_point_types::PointXYZIRC;
-using autoware_point_types::PointXYZIRCGenerator;
+using autoware::point_types::PointXYZIRC;
+using autoware::point_types::PointXYZIRCGenerator;
 using point_cloud_msg_wrapper::PointCloud2Modifier;
 using sensor_msgs::msg::PointCloud2;
 
diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp
index e165efa640d15..816ba7e8174c7 100644
--- a/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp
+++ b/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp
@@ -15,7 +15,7 @@
 #include "../src/voxel_based_approximate_compare_map_filter/node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
@@ -24,8 +24,8 @@
 #include <gtest/gtest.h>
 
 using autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent;
-using autoware_point_types::PointXYZIRC;
-using autoware_point_types::PointXYZIRCGenerator;
+using autoware::point_types::PointXYZIRC;
+using autoware::point_types::PointXYZIRCGenerator;
 using point_cloud_msg_wrapper::PointCloud2Modifier;
 using sensor_msgs::msg::PointCloud2;
 
diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp
index 654d7443bd8d0..4fa0ab6321f1c 100644
--- a/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp
+++ b/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp
@@ -15,7 +15,7 @@
 #include "../src/voxel_based_compare_map_filter/node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
@@ -24,8 +24,8 @@
 #include <gtest/gtest.h>
 
 using autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent;
-using autoware_point_types::PointXYZIRC;
-using autoware_point_types::PointXYZIRCGenerator;
+using autoware::point_types::PointXYZIRC;
+using autoware::point_types::PointXYZIRCGenerator;
 using point_cloud_msg_wrapper::PointCloud2Modifier;
 using sensor_msgs::msg::PointCloud2;
 
diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp
index 4440a5eddc426..946eef9bd0a0e 100644
--- a/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp
+++ b/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp
@@ -15,7 +15,7 @@
 #include "../src/voxel_distance_based_compare_map_filter/node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
@@ -24,8 +24,8 @@
 #include <gtest/gtest.h>
 
 using autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent;
-using autoware_point_types::PointXYZIRC;
-using autoware_point_types::PointXYZIRCGenerator;
+using autoware::point_types::PointXYZIRC;
+using autoware::point_types::PointXYZIRCGenerator;
 using point_cloud_msg_wrapper::PointCloud2Modifier;
 using sensor_msgs::msg::PointCloud2;
 
diff --git a/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp
index 7d2edbe0de0d7..759e2b3653868 100644
--- a/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp
+++ b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp"
 
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 #include <experimental/random>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -23,7 +23,7 @@
 
 #include <gtest/gtest.h>
 
-using autoware_point_types::PointXYZI;
+using autoware::point_types::PointXYZI;
 void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud)
 {
   pointcloud.fields.resize(4);
diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
index 03a950f68bbd2..ba3f848a0e9a7 100644
--- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp"
 
-#include "autoware_point_types/types.hpp"
+#include "autoware/point_types/types.hpp"
 
 #include <autoware/image_projection_based_fusion/utils/geometry.hpp>
 #include <autoware/image_projection_based_fusion/utils/utils.hpp>
@@ -293,15 +293,15 @@ void PointPaintingFusionNode::fuseOnSingleImage(
   // sensor_msgs::msg::PointCloud2 transformed_pointcloud;
   // tf2::doTransform(painted_pointcloud_msg, transformed_pointcloud, transform_stamped);
 
-  const auto x_offset =
-    painted_pointcloud_msg.fields.at(static_cast<size_t>(autoware_point_types::PointXYZIRCIndex::X))
-      .offset;
-  const auto y_offset =
-    painted_pointcloud_msg.fields.at(static_cast<size_t>(autoware_point_types::PointXYZIRCIndex::Y))
-      .offset;
-  const auto z_offset =
-    painted_pointcloud_msg.fields.at(static_cast<size_t>(autoware_point_types::PointXYZIRCIndex::Z))
-      .offset;
+  const auto x_offset = painted_pointcloud_msg.fields
+                          .at(static_cast<size_t>(autoware::point_types::PointXYZIRCIndex::X))
+                          .offset;
+  const auto y_offset = painted_pointcloud_msg.fields
+                          .at(static_cast<size_t>(autoware::point_types::PointXYZIRCIndex::Y))
+                          .offset;
+  const auto z_offset = painted_pointcloud_msg.fields
+                          .at(static_cast<size_t>(autoware::point_types::PointXYZIRCIndex::Z))
+                          .offset;
   const auto class_offset = painted_pointcloud_msg.fields.at(4).offset;
   const auto p_step = painted_pointcloud_msg.point_step;
   // projection matrix
diff --git a/perception/autoware_image_projection_based_fusion/test/test_utils.cpp b/perception/autoware_image_projection_based_fusion/test/test_utils.cpp
index 5fbd313d75dfe..ac179c66dd3d0 100644
--- a/perception/autoware_image_projection_based_fusion/test/test_utils.cpp
+++ b/perception/autoware_image_projection_based_fusion/test/test_utils.cpp
@@ -13,11 +13,11 @@
 // limitations under the License.
 
 #include <autoware/image_projection_based_fusion/utils/utils.hpp>
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 
 #include <gtest/gtest.h>
 
-using autoware_point_types::PointXYZI;
+using autoware::point_types::PointXYZI;
 
 void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud)
 {
diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp
index 9f32c27a8841b..d420da6716cb1 100644
--- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp
+++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp
@@ -27,7 +27,7 @@
 #include <tf2_eigen/tf2_eigen.hpp>
 #endif
 
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -39,7 +39,7 @@
 namespace autoware::lidar_transfusion
 {
 constexpr std::size_t AFF_MAT_SIZE = 16;  // 4x4 matrix
-constexpr std::size_t MAX_CLOUD_STEP_SIZE = sizeof(autoware_point_types::PointXYZIRCAEDT);
+constexpr std::size_t MAX_CLOUD_STEP_SIZE = sizeof(autoware::point_types::PointXYZIRCAEDT);
 
 class VoxelGenerator
 {
diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp
index 37b364ecf8a9d..c203693426ab3 100644
--- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp
+++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp
@@ -17,7 +17,7 @@
 
 #include "autoware/lidar_transfusion/utils.hpp"
 
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 
 #include <autoware_perception_msgs/msg/detected_object_kinematics.hpp>
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
@@ -45,10 +45,10 @@ namespace autoware::lidar_transfusion
 {
 using sensor_msgs::msg::PointField;
 
-CHECK_FIELD(0, float, autoware_point_types::PointXYZIRCAEDT, x);
-CHECK_FIELD(4, float, autoware_point_types::PointXYZIRCAEDT, y);
-CHECK_FIELD(8, float, autoware_point_types::PointXYZIRCAEDT, z);
-CHECK_FIELD(12, uint8_t, autoware_point_types::PointXYZIRCAEDT, intensity);
+CHECK_FIELD(0, float, autoware::point_types::PointXYZIRCAEDT, x);
+CHECK_FIELD(4, float, autoware::point_types::PointXYZIRCAEDT, y);
+CHECK_FIELD(8, float, autoware::point_types::PointXYZIRCAEDT, z);
+CHECK_FIELD(12, uint8_t, autoware::point_types::PointXYZIRCAEDT, intensity);
 
 struct CloudInfo
 {
@@ -64,7 +64,7 @@ struct CloudInfo
   uint8_t y_count{1};
   uint8_t z_count{1};
   uint8_t intensity_count{1};
-  uint32_t point_step{sizeof(autoware_point_types::PointXYZIRCAEDT)};
+  uint32_t point_step{sizeof(autoware::point_types::PointXYZIRCAEDT)};
   bool is_bigendian{false};
 
   bool operator!=(const CloudInfo & rhs) const
diff --git a/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp
index 5a60c206314bf..df546dbde6d97 100644
--- a/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp
+++ b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp
@@ -18,7 +18,7 @@
 #include "autoware/lidar_transfusion/utils.hpp"
 #include "gtest/gtest.h"
 
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 
 #include "sensor_msgs/point_cloud2_iterator.hpp"
 
@@ -52,7 +52,7 @@ void VoxelGeneratorTest::SetUp()
 
   // Set up the fields
   point_cloud_msg_wrapper::PointCloud2Modifier<
-    autoware_point_types::PointXYZIRCAEDT, autoware_point_types::PointXYZIRCAEDTGenerator>
+    autoware::point_types::PointXYZIRCAEDT, autoware::point_types::PointXYZIRCAEDTGenerator>
     modifier{*cloud1_, lidar_frame_};
 
   // Resize the cloud to hold points_per_pointcloud_ points
diff --git a/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp b/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp
index e6d058ef8f437..e7644ce45e443 100644
--- a/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp
+++ b/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp
@@ -15,7 +15,7 @@
 #include "../src/low_intensity_cluster_filter_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
@@ -27,9 +27,9 @@
 #include <vector>
 
 using autoware::low_intensity_cluster_filter::LowIntensityClusterFilter;
+using autoware::point_types::PointXYZIRC;
+using autoware::point_types::PointXYZIRCGenerator;
 using autoware_perception_msgs::msg::ObjectClassification;
-using autoware_point_types::PointXYZIRC;
-using autoware_point_types::PointXYZIRCGenerator;
 using point_cloud_msg_wrapper::PointCloud2Modifier;
 using tier4_perception_msgs::msg::DetectedObjectsWithFeature;
 using tier4_perception_msgs::msg::DetectedObjectWithFeature;
@@ -64,7 +64,7 @@ DetectedObjectsWithFeature create_cluster(
   feature_obj.object.classification.resize(1);
   feature_obj.object.classification[0].label = label;
   sensor_msgs::msg::PointCloud2 cluster;
-  PointCloud2Modifier<PointXYZIRC, autoware_point_types::PointXYZIRCGenerator> modifier(
+  PointCloud2Modifier<PointXYZIRC, autoware::point_types::PointXYZIRCGenerator> modifier(
     cluster, "base_link");
   for (int i = 0; i < cluster_size; i++) {
     PointXYZIRC point;
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp
index 977adc59cd7e5..40adad3521f8d 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp
@@ -61,7 +61,7 @@
 #include <vector>
 
 // ROS includes
-#include "autoware_point_types/types.hpp"
+#include "autoware/point_types/types.hpp"
 
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/ros/managed_transform_buffer.hpp>
@@ -88,7 +88,7 @@
 
 namespace autoware::pointcloud_preprocessor
 {
-using autoware_point_types::PointXYZIRC;
+using autoware::point_types::PointXYZIRC;
 using point_cloud_msg_wrapper::PointCloud2Modifier;
 
 /** \brief @b PointCloudConcatenateDataSynchronizerComponent is a special form of data
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
index b7e0e86ca1d3a..0e959eedae1b6 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
@@ -61,10 +61,10 @@
 #include <vector>
 
 // ROS includes
+#include <autoware/point_types/types.hpp>
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/ros/managed_transform_buffer.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
-#include <autoware_point_types/types.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
@@ -86,7 +86,7 @@
 
 namespace autoware::pointcloud_preprocessor
 {
-using autoware_point_types::PointXYZIRC;
+using autoware::point_types::PointXYZIRC;
 using point_cloud_msg_wrapper::PointCloud2Modifier;
 /** \brief @b PointCloudConcatenationComponent is a special form of data
  * synchronizer: it listens for a set of input PointCloud messages on the same topic,
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp
index cf396e3e3a4be..b5aa9d56a0dfb 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp
@@ -15,9 +15,9 @@
 #ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_
 #define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_
 
+#include "autoware/point_types/types.hpp"
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 #include "autoware/pointcloud_preprocessor/transform_info.hpp"
-#include "autoware_point_types/types.hpp"
 
 #include <image_transport/image_transport.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
@@ -40,9 +40,9 @@ using point_cloud_msg_wrapper::PointCloud2Modifier;
 class RingOutlierFilterComponent : public autoware::pointcloud_preprocessor::Filter
 {
 protected:
-  using InputPointIndex = autoware_point_types::PointXYZIRCAEDTIndex;
-  using InputPointType = autoware_point_types::PointXYZIRCAEDT;
-  using OutputPointType = autoware_point_types::PointXYZIRC;
+  using InputPointIndex = autoware::point_types::PointXYZIRCAEDTIndex;
+  using InputPointType = autoware::point_types::PointXYZIRCAEDT;
+  using OutputPointType = autoware::point_types::PointXYZIRC;
 
   virtual void filter(
     const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output);
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp
index b02860a6f112e..d36fcb36a7be1 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp
@@ -61,10 +61,10 @@
 #include <vector>
 
 // ROS includes
+#include <autoware/point_types/types.hpp>
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/ros/managed_transform_buffer.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
-#include <autoware_point_types/types.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
@@ -87,7 +87,7 @@
 
 namespace autoware::pointcloud_preprocessor
 {
-using autoware_point_types::PointXYZIRC;
+using autoware::point_types::PointXYZIRC;
 using point_cloud_msg_wrapper::PointCloud2Modifier;
 // cspell:ignore Yoshi
 /** \brief @b PointCloudDataSynchronizerComponent is a special form of data
diff --git a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp
index 6703eb6b70741..26be762acca43 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp
@@ -14,14 +14,14 @@
 
 #include "autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp"
 
-#include "autoware_point_types/types.hpp"
+#include "autoware/point_types/types.hpp"
 
 #include <algorithm>
 #include <numeric>
 
 namespace autoware::pointcloud_preprocessor
 {
-using autoware_point_types::PointXYZIRCAEDT;
+using autoware::point_types::PointXYZIRCAEDT;
 using diagnostic_msgs::msg::DiagnosticStatus;
 
 BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options)
diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
index d0911f769d3bd..a67c9f7f018e1 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
@@ -481,7 +481,7 @@ void PointCloudConcatenateDataSynchronizerComponent::convertToXYZIRCCloud(
 {
   output_ptr->header = input_ptr->header;
 
-  PointCloud2Modifier<PointXYZIRC, autoware_point_types::PointXYZIRCGenerator> output_modifier{
+  PointCloud2Modifier<PointXYZIRC, autoware::point_types::PointXYZIRCGenerator> output_modifier{
     *output_ptr, input_ptr->header.frame_id};
   output_modifier.reserve(input_ptr->width);
 
diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp
index 5e1911c93409d..ba29389b88bf7 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp
@@ -311,7 +311,7 @@ void PointCloudConcatenationComponent::convertToXYZIRCCloud(
 {
   output_ptr->header = input_ptr->header;
 
-  PointCloud2Modifier<PointXYZIRC, autoware_point_types::PointXYZIRCGenerator> output_modifier{
+  PointCloud2Modifier<PointXYZIRC, autoware::point_types::PointXYZIRCGenerator> output_modifier{
     *output_ptr, input_ptr->header.frame_id};
   output_modifier.reserve(input_ptr->width);
 
diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp
index d3f81473ed06f..a8024e02de2c1 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp"
 
-#include "autoware_point_types/types.hpp"
+#include "autoware/point_types/types.hpp"
 
 #include <std_msgs/msg/header.hpp>
 
@@ -28,8 +28,8 @@
 
 namespace autoware::pointcloud_preprocessor
 {
-using autoware_point_types::PointXYZIRCAEDT;
-using autoware_point_types::ReturnType;
+using autoware::point_types::PointXYZIRCAEDT;
+using autoware::point_types::ReturnType;
 using diagnostic_msgs::msg::DiagnosticStatus;
 
 DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent(
diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp
index bf140e662440b..59000d71b8ad6 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp"
 
-#include "autoware_point_types/types.hpp"
+#include "autoware/point_types/types.hpp"
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
@@ -22,7 +22,7 @@
 #include <vector>
 namespace autoware::pointcloud_preprocessor
 {
-using autoware_point_types::PointXYZIRADRT;
+using autoware::point_types::PointXYZIRADRT;
 
 RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions & options)
 : Filter("RingOutlierFilter", options)
diff --git a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp
index e34c165383867..5bf5069f1200f 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp
@@ -413,7 +413,7 @@ void PointCloudDataSynchronizerComponent::convertToXYZIRCCloud(
 {
   output_ptr->header = input_ptr->header;
 
-  PointCloud2Modifier<PointXYZIRC, autoware_point_types::PointXYZIRCGenerator> output_modifier{
+  PointCloud2Modifier<PointXYZIRC, autoware::point_types::PointXYZIRCGenerator> output_modifier{
     *output_ptr, input_ptr->header.frame_id};
   output_modifier.reserve(input_ptr->width);
 
diff --git a/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp b/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp
index 7e265bcfb4960..c1fd55943d13a 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp
@@ -14,14 +14,14 @@
 
 #include "autoware/pointcloud_preprocessor/utility/memory.hpp"
 
-#include <autoware_point_types/types.hpp>
+#include <autoware/point_types/types.hpp>
 
 namespace autoware::pointcloud_preprocessor::utils
 {
 bool is_data_layout_compatible_with_point_xyzi(const sensor_msgs::msg::PointCloud2 & input)
 {
-  using PointIndex = autoware_point_types::PointXYZIIndex;
-  using autoware_point_types::PointXYZI;
+  using PointIndex = autoware::point_types::PointXYZIIndex;
+  using autoware::point_types::PointXYZI;
   if (input.fields.size() < 4) {
     return false;
   }
@@ -51,8 +51,8 @@ bool is_data_layout_compatible_with_point_xyzi(const sensor_msgs::msg::PointClou
 
 bool is_data_layout_compatible_with_point_xyzirc(const sensor_msgs::msg::PointCloud2 & input)
 {
-  using PointIndex = autoware_point_types::PointXYZIRCIndex;
-  using autoware_point_types::PointXYZIRC;
+  using PointIndex = autoware::point_types::PointXYZIRCIndex;
+  using autoware::point_types::PointXYZIRC;
   if (input.fields.size() < 6) {
     return false;
   }
@@ -93,8 +93,8 @@ bool is_data_layout_compatible_with_point_xyzirc(const sensor_msgs::msg::PointCl
 
 bool is_data_layout_compatible_with_point_xyziradrt(const sensor_msgs::msg::PointCloud2 & input)
 {
-  using PointIndex = autoware_point_types::PointXYZIRADRTIndex;
-  using autoware_point_types::PointXYZIRADRT;
+  using PointIndex = autoware::point_types::PointXYZIRADRTIndex;
+  using autoware::point_types::PointXYZIRADRT;
   if (input.fields.size() < 9) {
     return false;
   }
@@ -149,8 +149,8 @@ bool is_data_layout_compatible_with_point_xyziradrt(const sensor_msgs::msg::Poin
 
 bool is_data_layout_compatible_with_point_xyzircaedt(const sensor_msgs::msg::PointCloud2 & input)
 {
-  using PointIndex = autoware_point_types::PointXYZIRCAEDTIndex;
-  using autoware_point_types::PointXYZIRCAEDT;
+  using PointIndex = autoware::point_types::PointXYZIRCAEDTIndex;
+  using autoware::point_types::PointXYZIRCAEDT;
   if (input.fields.size() != 10) {
     return false;
   }