diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index b932cc62b77ca..1f25372c14d71 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -81,6 +81,7 @@ launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp
 localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_landmark_based_localizer/autoware_landmark_manager/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_pose_covariance_modifier/** melike@leodrive.ai
+localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
 localization/geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
@@ -91,7 +92,6 @@ localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masah
 localization/pose_estimator_arbiter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
index bdea584bd58ae..b39346de8f8da 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -17,7 +17,7 @@
   </group>
 
   <group>
-    <include file="$(find-pkg-share stop_filter)/launch/stop_filter.launch.xml">
+    <include file="$(find-pkg-share autoware_stop_filter)/launch/stop_filter.launch.xml">
       <arg name="use_twist_with_covariance" value="True"/>
       <arg name="input_odom_name" value="/localization/pose_twist_fusion_filter/kinematic_state"/>
       <arg name="input_twist_with_covariance_name" value="/localization/pose_twist_fusion_filter/twist_with_covariance"/>
diff --git a/localization/stop_filter/CMakeLists.txt b/localization/autoware_stop_filter/CMakeLists.txt
similarity index 87%
rename from localization/stop_filter/CMakeLists.txt
rename to localization/autoware_stop_filter/CMakeLists.txt
index 4776a1f4967b2..f33ab41169cb3 100644
--- a/localization/stop_filter/CMakeLists.txt
+++ b/localization/autoware_stop_filter/CMakeLists.txt
@@ -1,11 +1,12 @@
 cmake_minimum_required(VERSION 3.14)
-project(stop_filter)
+project(autoware_stop_filter)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/stop_filter.cpp
+  src/stop_filter.hpp
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
diff --git a/localization/stop_filter/README.md b/localization/autoware_stop_filter/README.md
similarity index 100%
rename from localization/stop_filter/README.md
rename to localization/autoware_stop_filter/README.md
diff --git a/localization/stop_filter/config/stop_filter.param.yaml b/localization/autoware_stop_filter/config/stop_filter.param.yaml
similarity index 100%
rename from localization/stop_filter/config/stop_filter.param.yaml
rename to localization/autoware_stop_filter/config/stop_filter.param.yaml
diff --git a/localization/stop_filter/launch/stop_filter.launch.xml b/localization/autoware_stop_filter/launch/stop_filter.launch.xml
similarity index 69%
rename from localization/stop_filter/launch/stop_filter.launch.xml
rename to localization/autoware_stop_filter/launch/stop_filter.launch.xml
index c53b37efc9954..ff7b6cafe6e8f 100644
--- a/localization/stop_filter/launch/stop_filter.launch.xml
+++ b/localization/autoware_stop_filter/launch/stop_filter.launch.xml
@@ -1,9 +1,9 @@
 <launch>
-  <arg name="param_path" default="$(find-pkg-share stop_filter)/config/stop_filter.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml"/>
   <arg name="input_odom_name" default="ekf_odom"/>
   <arg name="output_odom_name" default="stop_filter_odom"/>
   <arg name="debug_stop_flag" default="debug/stop_flag"/>
-  <node pkg="stop_filter" exec="stop_filter_node" output="both">
+  <node pkg="autoware_stop_filter" exec="autoware_stop_filter_node" output="both">
     <remap from="input/odom" to="$(var input_odom_name)"/>
 
     <remap from="output/odom" to="$(var output_odom_name)"/>
diff --git a/localization/stop_filter/package.xml b/localization/autoware_stop_filter/package.xml
similarity index 97%
rename from localization/stop_filter/package.xml
rename to localization/autoware_stop_filter/package.xml
index 2e6d5c4f8bbe1..dfdbd5f182983 100644
--- a/localization/stop_filter/package.xml
+++ b/localization/autoware_stop_filter/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>stop_filter</name>
+  <name>autoware_stop_filter</name>
   <version>0.0.0</version>
   <description>The stop filter package</description>
   <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
diff --git a/localization/stop_filter/schema/stop_filter.schema.json b/localization/autoware_stop_filter/schema/stop_filter.schema.json
similarity index 100%
rename from localization/stop_filter/schema/stop_filter.schema.json
rename to localization/autoware_stop_filter/schema/stop_filter.schema.json
diff --git a/localization/stop_filter/src/stop_filter.cpp b/localization/autoware_stop_filter/src/stop_filter.cpp
similarity index 92%
rename from localization/stop_filter/src/stop_filter.cpp
rename to localization/autoware_stop_filter/src/stop_filter.cpp
index c1c4de2fb6b6e..f5e29419105d4 100644
--- a/localization/stop_filter/src/stop_filter.cpp
+++ b/localization/autoware_stop_filter/src/stop_filter.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "stop_filter/stop_filter.hpp"
+#include "stop_filter.hpp"
 
 #include <rclcpp/logging.hpp>
 
@@ -24,6 +24,8 @@
 
 using std::placeholders::_1;
 
+namespace autoware::stop_filter
+{
 StopFilter::StopFilter(const rclcpp::NodeOptions & node_options)
 : rclcpp::Node("stop_filter", node_options)
 {
@@ -57,6 +59,7 @@ void StopFilter::callback_odometry(const nav_msgs::msg::Odometry::SharedPtr msg)
   pub_stop_flag_->publish(stop_flag_msg);
   pub_odom_->publish(odom_msg);
 }
+}  // namespace autoware::stop_filter
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(StopFilter)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::stop_filter::StopFilter)
diff --git a/localization/stop_filter/include/stop_filter/stop_filter.hpp b/localization/autoware_stop_filter/src/stop_filter.hpp
similarity index 91%
rename from localization/stop_filter/include/stop_filter/stop_filter.hpp
rename to localization/autoware_stop_filter/src/stop_filter.hpp
index e8428788820b2..ce6e67f0b7265 100644
--- a/localization/stop_filter/include/stop_filter/stop_filter.hpp
+++ b/localization/autoware_stop_filter/src/stop_filter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STOP_FILTER__STOP_FILTER_HPP_
-#define STOP_FILTER__STOP_FILTER_HPP_
+#ifndef STOP_FILTER_HPP_
+#define STOP_FILTER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -34,6 +34,8 @@
 #include <string>
 #include <vector>
 
+namespace autoware::stop_filter
+{
 class StopFilter : public rclcpp::Node
 {
 public:
@@ -54,4 +56,5 @@ class StopFilter : public rclcpp::Node
    */
   void callback_odometry(const nav_msgs::msg::Odometry::SharedPtr msg);
 };
-#endif  // STOP_FILTER__STOP_FILTER_HPP_
+}  // namespace autoware::stop_filter
+#endif  // STOP_FILTER_HPP_