diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml
index 50d56354..d6aab6b7 100644
--- a/aip_x1_launch/launch/sensing.launch.xml
+++ b/aip_x1_launch/launch/sensing.launch.xml
@@ -25,7 +25,7 @@
     </include>
 
     <!-- Vehicle twist -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
       <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/vehicle_velocity_converter.param.yaml" />
diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml
index 582fcefb..83d15cbe 100644
--- a/aip_x1_launch/package.xml
+++ b/aip_x1_launch/package.xml
@@ -17,6 +17,7 @@
   <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>individual_params</exec_depend>
   <exec_depend>rclcpp_components</exec_depend>
diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
index 274f6334..e3a49057 100644
--- a/aip_x2_launch/launch/sensing.launch.xml
+++ b/aip_x2_launch/launch/sensing.launch.xml
@@ -30,7 +30,7 @@
     </include>
 
     <!-- Vehicle twist -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
       <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/vehicle_velocity_converter.param.yaml" />
diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml
index 1bcc5b50..a765544e 100644
--- a/aip_x2_launch/package.xml
+++ b/aip_x2_launch/package.xml
@@ -14,6 +14,7 @@
   <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_simple_object_merger</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>dummy_diag_publisher</exec_depend>
   <exec_depend>septentrio_gnss_driver</exec_depend>
@@ -21,7 +22,6 @@
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
   <exec_depend>usb_cam</exec_depend>
-  <exec_depend>vehicle_velocity_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml
index 87b928b2..1f389007 100644
--- a/aip_xx1_gen2_launch/launch/sensing.launch.xml
+++ b/aip_xx1_gen2_launch/launch/sensing.launch.xml
@@ -39,7 +39,7 @@
     </include>
 
     <!-- Vehicle twist -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
       <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1_gen2/vehicle_velocity_converter.param.yaml" />
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
index d5694bc7..0a2e9006 100644
--- a/aip_xx1_gen2_launch/package.xml
+++ b/aip_xx1_gen2_launch/package.xml
@@ -16,6 +16,7 @@
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_radar_tracks_msgs_converter</exec_depend>
   <exec_depend>autoware_simple_object_merger</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>pacmod3</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
@@ -23,7 +24,6 @@
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
   <exec_depend>usb_cam</exec_depend>
-  <exec_depend>vehicle_velocity_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index 2128f30a..c2e659a0 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -36,7 +36,7 @@
     </include>
 
     <!-- Vehicle twist -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
       <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/vehicle_velocity_converter.param.yaml" />
diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
index 5d77784a..c3b53ed2 100644
--- a/aip_xx1_launch/package.xml
+++ b/aip_xx1_launch/package.xml
@@ -14,6 +14,7 @@
   <exec_depend>autoware_gnss_poser</exec_depend>
   <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>pacmod3</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
@@ -21,7 +22,6 @@
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
   <exec_depend>usb_cam</exec_depend>
-  <exec_depend>vehicle_velocity_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>