diff --git a/common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt b/common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt
index 281a6fc7dc802..1babe2e464fec 100644
--- a/common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt
+++ b/common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt
@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "TrafficLightRecognitionMarkerPublisher"
+  PLUGIN "autoware::traffic_light_recognition_marker_publisher::TrafficLightRecognitionMarkerPublisher"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 
diff --git a/common/autoware_traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml b/common/autoware_traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml
index b982be34e77d3..60f5c34e1f283 100644
--- a/common/autoware_traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml
+++ b/common/autoware_traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml
@@ -1,5 +1,5 @@
 <launch>
-  <node pkg="traffic_light_recognition_marker_publisher" exec="traffic_light_recognition_marker_publisher_node" name="traffic_light_recognition_marker_publisher">
+  <node pkg="autoware_traffic_light_recognition_marker_publisher" exec="autoware_traffic_light_recognition_marker_publisher_node" name="traffic_light_recognition_marker_publisher">
     <remap from="~/input/lanelet2_map" to="/map/vector_map"/>
     <remap from="~/input/traffic_signals" to="/perception/traffic_light_recognition/traffic_signals"/>
     <remap from="~/output/marker" to="/perception/traffic_light_recognition/traffic_signals_marker"/>
diff --git a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp
index 5d887a2296137..7a651518130f9 100644
--- a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp
+++ b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp
@@ -20,6 +20,9 @@
 #include <utility>
 #include <vector>
 
+namespace autoware::traffic_light_recognition_marker_publisher
+{
+
 TrafficLightRecognitionMarkerPublisher::TrafficLightRecognitionMarkerPublisher(
   const rclcpp::NodeOptions & options)
 : Node("traffic_light_recognition_marker_publisher", options)
@@ -159,6 +162,8 @@ std_msgs::msg::ColorRGBA TrafficLightRecognitionMarkerPublisher::getTrafficLight
 
   return c;  // white
 }
+}  // namespace autoware::traffic_light_recognition_marker_publisher
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(TrafficLightRecognitionMarkerPublisher)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::traffic_light_recognition_marker_publisher::TrafficLightRecognitionMarkerPublisher)
diff --git a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp
index 14bb0e39628f9..b4fa388fe0167 100644
--- a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp
+++ b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp
@@ -29,6 +29,8 @@
 #include <map>
 #include <string>
 
+namespace autoware::traffic_light_recognition_marker_publisher
+{
 class TrafficLightRecognitionMarkerPublisher : public rclcpp::Node
 {
 public:
@@ -58,5 +60,6 @@ class TrafficLightRecognitionMarkerPublisher : public rclcpp::Node
   bool is_map_ready_ = false;
   int32_t marker_id = 0;
 };
+}  // namespace autoware::traffic_light_recognition_marker_publisher
 
 #endif  // TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_