diff --git a/localization/autoware_ekf_localizer/CMakeLists.txt b/localization/autoware_ekf_localizer/CMakeLists.txt
index ca5e787593..6326b5edbe 100644
--- a/localization/autoware_ekf_localizer/CMakeLists.txt
+++ b/localization/autoware_ekf_localizer/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package(Eigen3 REQUIRED)
 include_directories(
   SYSTEM
     ${EIGEN3_INCLUDE_DIR}
+    src/
 )
 
 ament_auto_find_build_dependencies()
diff --git a/localization/autoware_ekf_localizer/src/covariance.cpp b/localization/autoware_ekf_localizer/src/covariance.cpp
index 61b95b586f..ce751ea1ed 100644
--- a/localization/autoware_ekf_localizer/src/covariance.cpp
+++ b/localization/autoware_ekf_localizer/src/covariance.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/covariance.hpp"
+#include "include/covariance.hpp"
 
-#include "autoware/ekf_localizer/state_index.hpp"
+#include "include/state_index.hpp"
 
 #include <autoware_utils_geometry/msg/covariance.hpp>
 
diff --git a/localization/autoware_ekf_localizer/src/diagnostics.cpp b/localization/autoware_ekf_localizer/src/diagnostics.cpp
index 45468abf72..c7ae0ba8cd 100644
--- a/localization/autoware_ekf_localizer/src/diagnostics.cpp
+++ b/localization/autoware_ekf_localizer/src/diagnostics.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/diagnostics.hpp"
+#include "include/diagnostics.hpp"
 
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 
diff --git a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp
index e173da2f1b..15e8dafc78 100644
--- a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp
+++ b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/ekf_localizer.hpp"
+#include "include/ekf_localizer.hpp"
 
-#include "autoware/ekf_localizer/diagnostics.hpp"
-#include "autoware/ekf_localizer/string.hpp"
-#include "autoware/ekf_localizer/warning_message.hpp"
 #include "autoware/localization_util/covariance_ellipse.hpp"
+#include "include/diagnostics.hpp"
+#include "include/string.hpp"
+#include "include/warning_message.hpp"
 
 #include <autoware_utils_geometry/geometry.hpp>
 #include <autoware_utils_logging/logger_level_configure.hpp>
diff --git a/localization/autoware_ekf_localizer/src/ekf_module.cpp b/localization/autoware_ekf_localizer/src/ekf_module.cpp
index a0dd730927..a3cd793105 100644
--- a/localization/autoware_ekf_localizer/src/ekf_module.cpp
+++ b/localization/autoware_ekf_localizer/src/ekf_module.cpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/ekf_module.hpp"
+#include "include/ekf_module.hpp"
 
-#include "autoware/ekf_localizer/covariance.hpp"
-#include "autoware/ekf_localizer/mahalanobis.hpp"
-#include "autoware/ekf_localizer/matrix_types.hpp"
-#include "autoware/ekf_localizer/measurement.hpp"
-#include "autoware/ekf_localizer/numeric.hpp"
-#include "autoware/ekf_localizer/state_transition.hpp"
-#include "autoware/ekf_localizer/warning_message.hpp"
+#include "include/covariance.hpp"
+#include "include/mahalanobis.hpp"
+#include "include/matrix_types.hpp"
+#include "include/measurement.hpp"
+#include "include/numeric.hpp"
+#include "include/state_transition.hpp"
+#include "include/warning_message.hpp"
 
 #include <autoware_utils_geometry/geometry.hpp>
 #include <autoware_utils_geometry/msg/covariance.hpp>
@@ -44,7 +44,8 @@ EKFModule::EKFModule(std::shared_ptr<Warning> warning, const HyperParameters & p
   dim_x_(6),  // x, y, yaw, yaw_bias, vx, wz
   accumulated_delay_times_(params.extend_state_step, 1.0E15),
   params_(params),
-  last_angular_velocity_(0.0, 0.0, 0.0)
+  last_angular_velocity_(0.0, 0.0, 0.0),
+  ekf_dt_(0.0)
 {
   Eigen::MatrixXd x = Eigen::MatrixXd::Zero(dim_x_, 1);
   Eigen::MatrixXd p = Eigen::MatrixXd::Identity(dim_x_, dim_x_) * 1.0E15;  // for x & y
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp b/localization/autoware_ekf_localizer/src/include/aged_object_queue.hpp
similarity index 92%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp
rename to localization/autoware_ekf_localizer/src/include/aged_object_queue.hpp
index 14a48a0b82..1897b2f65e 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp
+++ b/localization/autoware_ekf_localizer/src/include/aged_object_queue.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
-#define AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
+#ifndef AGED_OBJECT_QUEUE_HPP_
+#define AGED_OBJECT_QUEUE_HPP_
 
 #include <cstddef>
 #include <queue>
@@ -86,4 +86,4 @@ class AgedObjectQueue
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
+#endif  // AGED_OBJECT_QUEUE_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp b/localization/autoware_ekf_localizer/src/include/covariance.hpp
similarity index 80%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp
rename to localization/autoware_ekf_localizer/src/include/covariance.hpp
index 018b93f86d..8896702c83 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp
+++ b/localization/autoware_ekf_localizer/src/include/covariance.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_
-#define AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_
+#ifndef COVARIANCE_HPP_
+#define COVARIANCE_HPP_
 
-#include "autoware/ekf_localizer/matrix_types.hpp"
+#include "matrix_types.hpp"
 
 namespace autoware::ekf_localizer
 {
@@ -25,4 +25,4 @@ std::array<double, 36> ekf_covariance_to_twist_message_covariance(const Matrix6d
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_
+#endif  // COVARIANCE_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp b/localization/autoware_ekf_localizer/src/include/diagnostics.hpp
similarity index 93%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp
rename to localization/autoware_ekf_localizer/src/include/diagnostics.hpp
index b194c3e956..164f77b1af 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp
+++ b/localization/autoware_ekf_localizer/src/include/diagnostics.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_
-#define AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_
+#ifndef DIAGNOSTICS_HPP_
+#define DIAGNOSTICS_HPP_
 
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 
@@ -46,4 +46,4 @@ diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status(
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_
+#endif  // DIAGNOSTICS_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp b/localization/autoware_ekf_localizer/src/include/ekf_localizer.hpp
similarity index 94%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp
rename to localization/autoware_ekf_localizer/src/include/ekf_localizer.hpp
index f4f17b30a6..aff7982c7d 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp
+++ b/localization/autoware_ekf_localizer/src/include/ekf_localizer.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_
-#define AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_
+#ifndef EKF_LOCALIZER_HPP_
+#define EKF_LOCALIZER_HPP_
 
-#include "autoware/ekf_localizer/aged_object_queue.hpp"
-#include "autoware/ekf_localizer/ekf_module.hpp"
-#include "autoware/ekf_localizer/hyper_parameters.hpp"
-#include "autoware/ekf_localizer/warning.hpp"
+#include "aged_object_queue.hpp"
+#include "ekf_module.hpp"
+#include "hyper_parameters.hpp"
+#include "warning.hpp"
 
 #include <autoware_utils_logging/logger_level_configure.hpp>
 #include <autoware_utils_system/stop_watch.hpp>
@@ -54,7 +54,7 @@ namespace autoware::ekf_localizer
 class EKFLocalizer : public rclcpp::Node
 {
 public:
-  explicit EKFLocalizer(const rclcpp::NodeOptions & options);
+  explicit EKFLocalizer(const rclcpp::NodeOptions & node_options);
 
   // This function is only used in static tools to know when timer callbacks are triggered.
   std::chrono::nanoseconds time_until_trigger() const
@@ -194,4 +194,4 @@ class EKFLocalizer : public rclcpp::Node
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_
+#endif  // EKF_LOCALIZER_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp b/localization/autoware_ekf_localizer/src/include/ekf_module.hpp
similarity index 93%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp
rename to localization/autoware_ekf_localizer/src/include/ekf_module.hpp
index 9e54ca80d5..4dedf33a97 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp
+++ b/localization/autoware_ekf_localizer/src/include/ekf_module.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_
-#define AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_
+#ifndef EKF_MODULE_HPP_
+#define EKF_MODULE_HPP_
 
-#include "autoware/ekf_localizer/hyper_parameters.hpp"
-#include "autoware/ekf_localizer/state_index.hpp"
-#include "autoware/ekf_localizer/warning.hpp"
+#include "hyper_parameters.hpp"
+#include "state_index.hpp"
+#include "warning.hpp"
 
 #include <autoware/kalman_filter/kalman_filter.hpp>
 #include <autoware/kalman_filter/time_delay_kalman_filter.hpp>
@@ -152,4 +152,4 @@ class EKFModule
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_
+#endif  // EKF_MODULE_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp b/localization/autoware_ekf_localizer/src/include/hyper_parameters.hpp
similarity index 96%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp
rename to localization/autoware_ekf_localizer/src/include/hyper_parameters.hpp
index 78f2960a4c..106205aa53 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp
+++ b/localization/autoware_ekf_localizer/src/include/hyper_parameters.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
-#define AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
+#ifndef HYPER_PARAMETERS_HPP_
+#define HYPER_PARAMETERS_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -109,4 +109,4 @@ class HyperParameters
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
+#endif  // HYPER_PARAMETERS_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp b/localization/autoware_ekf_localizer/src/include/mahalanobis.hpp
similarity index 85%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp
rename to localization/autoware_ekf_localizer/src/include/mahalanobis.hpp
index c1538a72f5..daed4556a0 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp
+++ b/localization/autoware_ekf_localizer/src/include/mahalanobis.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_
-#define AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_
+#ifndef MAHALANOBIS_HPP_
+#define MAHALANOBIS_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Dense>
@@ -28,4 +28,4 @@ double mahalanobis(const Eigen::VectorXd & x, const Eigen::VectorXd & y, const E
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_
+#endif  // MAHALANOBIS_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp b/localization/autoware_ekf_localizer/src/include/matrix_types.hpp
similarity index 83%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp
rename to localization/autoware_ekf_localizer/src/include/matrix_types.hpp
index fc75dfe72b..3a5a88b7f0 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp
+++ b/localization/autoware_ekf_localizer/src/include/matrix_types.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_
-#define AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_
+#ifndef MATRIX_TYPES_HPP_
+#define MATRIX_TYPES_HPP_
 
 #include <Eigen/Core>
 
@@ -25,4 +25,4 @@ using Matrix6d = Eigen::Matrix<double, 6, 6>;
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_
+#endif  // MATRIX_TYPES_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp b/localization/autoware_ekf_localizer/src/include/measurement.hpp
similarity index 87%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp
rename to localization/autoware_ekf_localizer/src/include/measurement.hpp
index b8db07015e..cc279d2794 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp
+++ b/localization/autoware_ekf_localizer/src/include/measurement.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_
-#define AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_
+#ifndef MEASUREMENT_HPP_
+#define MEASUREMENT_HPP_
 
 #include <Eigen/Core>
 
@@ -29,4 +29,4 @@ Eigen::Matrix2d twist_measurement_covariance(
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_
+#endif  // MEASUREMENT_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp b/localization/autoware_ekf_localizer/src/include/numeric.hpp
similarity index 86%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp
rename to localization/autoware_ekf_localizer/src/include/numeric.hpp
index 253da4eb7f..8b13a5f735 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp
+++ b/localization/autoware_ekf_localizer/src/include/numeric.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_
-#define AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_
+#ifndef NUMERIC_HPP_
+#define NUMERIC_HPP_
 
 #include <Eigen/Core>
 
@@ -34,4 +34,4 @@ inline bool has_nan(const Eigen::MatrixXd & v)
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_
+#endif  // NUMERIC_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp b/localization/autoware_ekf_localizer/src/include/state_index.hpp
similarity index 83%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp
rename to localization/autoware_ekf_localizer/src/include/state_index.hpp
index 86fe83ec4a..4f9b177d56 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp
+++ b/localization/autoware_ekf_localizer/src/include/state_index.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_
-#define AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_
+#ifndef STATE_INDEX_HPP_
+#define STATE_INDEX_HPP_
 
 namespace autoware::ekf_localizer
 {
@@ -29,4 +29,4 @@ enum IDX {
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_
+#endif  // STATE_INDEX_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp b/localization/autoware_ekf_localizer/src/include/state_transition.hpp
similarity index 81%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp
rename to localization/autoware_ekf_localizer/src/include/state_transition.hpp
index e6ce18e76a..b402aa7333 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp
+++ b/localization/autoware_ekf_localizer/src/include/state_transition.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_
-#define AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_
+#ifndef STATE_TRANSITION_HPP_
+#define STATE_TRANSITION_HPP_
 
-#include "autoware/ekf_localizer/matrix_types.hpp"
+#include "matrix_types.hpp"
 
 namespace autoware::ekf_localizer
 {
@@ -28,4 +28,4 @@ Matrix6d process_noise_covariance(
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_
+#endif  // STATE_TRANSITION_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp b/localization/autoware_ekf_localizer/src/include/string.hpp
similarity index 85%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp
rename to localization/autoware_ekf_localizer/src/include/string.hpp
index 0146176b7d..a64e5bc21e 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp
+++ b/localization/autoware_ekf_localizer/src/include/string.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__STRING_HPP_
-#define AUTOWARE__EKF_LOCALIZER__STRING_HPP_
+#ifndef STRING_HPP_
+#define STRING_HPP_
 
 #include <string>
 
@@ -31,4 +31,4 @@ inline std::string erase_leading_slash(const std::string & s)
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__STRING_HPP_
+#endif  // STRING_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp b/localization/autoware_ekf_localizer/src/include/warning.hpp
similarity index 89%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp
rename to localization/autoware_ekf_localizer/src/include/warning.hpp
index f43c5e3413..0f568d7f8c 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp
+++ b/localization/autoware_ekf_localizer/src/include/warning.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__WARNING_HPP_
-#define AUTOWARE__EKF_LOCALIZER__WARNING_HPP_
+#ifndef WARNING_HPP_
+#define WARNING_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -45,4 +45,4 @@ class Warning
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__WARNING_HPP_
+#endif  // WARNING_HPP_
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp b/localization/autoware_ekf_localizer/src/include/warning_message.hpp
similarity index 88%
rename from localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp
rename to localization/autoware_ekf_localizer/src/include/warning_message.hpp
index 8ff777a559..9d8084f34f 100644
--- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp
+++ b/localization/autoware_ekf_localizer/src/include/warning_message.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_
-#define AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_
+#ifndef WARNING_MESSAGE_HPP_
+#define WARNING_MESSAGE_HPP_
 
 #include <string>
 
@@ -32,4 +32,4 @@ std::string too_slow_ekf_dt_waring_message(const double ekf_dt);
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_
+#endif  // WARNING_MESSAGE_HPP_
diff --git a/localization/autoware_ekf_localizer/src/mahalanobis.cpp b/localization/autoware_ekf_localizer/src/mahalanobis.cpp
index f7e56674b1..bba239e467 100644
--- a/localization/autoware_ekf_localizer/src/mahalanobis.cpp
+++ b/localization/autoware_ekf_localizer/src/mahalanobis.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/mahalanobis.hpp"
+#include "include/mahalanobis.hpp"
 
 namespace autoware::ekf_localizer
 {
diff --git a/localization/autoware_ekf_localizer/src/measurement.cpp b/localization/autoware_ekf_localizer/src/measurement.cpp
index 30272eb31f..201fcc754b 100644
--- a/localization/autoware_ekf_localizer/src/measurement.cpp
+++ b/localization/autoware_ekf_localizer/src/measurement.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/measurement.hpp"
+#include "include/measurement.hpp"
 
-#include "autoware/ekf_localizer/state_index.hpp"
+#include "include/state_index.hpp"
 
 #include <autoware_utils_geometry/msg/covariance.hpp>
 
diff --git a/localization/autoware_ekf_localizer/src/state_transition.cpp b/localization/autoware_ekf_localizer/src/state_transition.cpp
index f6a50b5839..9525cae515 100644
--- a/localization/autoware_ekf_localizer/src/state_transition.cpp
+++ b/localization/autoware_ekf_localizer/src/state_transition.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/state_transition.hpp"
+#include "include/state_transition.hpp"
 
-#include "autoware/ekf_localizer/matrix_types.hpp"
-#include "autoware/ekf_localizer/state_index.hpp"
+#include "include/matrix_types.hpp"
+#include "include/state_index.hpp"
 
 #include <cmath>
 
diff --git a/localization/autoware_ekf_localizer/src/warning_message.cpp b/localization/autoware_ekf_localizer/src/warning_message.cpp
index 1ef27d22b5..89d9e441d0 100644
--- a/localization/autoware_ekf_localizer/src/warning_message.cpp
+++ b/localization/autoware_ekf_localizer/src/warning_message.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/warning_message.hpp"
+#include "include/warning_message.hpp"
 
 #include <fmt/core.h>
 
diff --git a/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp
index dc9ef00833..bddfd41416 100644
--- a/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp
+++ b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/aged_object_queue.hpp"
+#include "include/aged_object_queue.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/autoware_ekf_localizer/test/test_covariance.cpp b/localization/autoware_ekf_localizer/test/test_covariance.cpp
index cab09367d6..569db9e71b 100644
--- a/localization/autoware_ekf_localizer/test/test_covariance.cpp
+++ b/localization/autoware_ekf_localizer/test/test_covariance.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/covariance.hpp"
+#include "include/covariance.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/autoware_ekf_localizer/test/test_diagnostics.cpp b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp
index 5ce39df484..2269c0b1b3 100644
--- a/localization/autoware_ekf_localizer/test/test_diagnostics.cpp
+++ b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/diagnostics.hpp"
+#include "include/diagnostics.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp b/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp
index 3f867470a3..9714f3d9bb 100644
--- a/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp
+++ b/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/mahalanobis.hpp"
+#include "include/mahalanobis.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/autoware_ekf_localizer/test/test_measurement.cpp b/localization/autoware_ekf_localizer/test/test_measurement.cpp
index 99dcc1744c..740dcc44e2 100644
--- a/localization/autoware_ekf_localizer/test/test_measurement.cpp
+++ b/localization/autoware_ekf_localizer/test/test_measurement.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/measurement.hpp"
+#include "include/measurement.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/autoware_ekf_localizer/test/test_numeric.cpp b/localization/autoware_ekf_localizer/test/test_numeric.cpp
index 080ce01f31..185a38f0a9 100644
--- a/localization/autoware_ekf_localizer/test/test_numeric.cpp
+++ b/localization/autoware_ekf_localizer/test/test_numeric.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/numeric.hpp"
+#include "include/numeric.hpp"
 
 #include <Eigen/Core>
 
diff --git a/localization/autoware_ekf_localizer/test/test_state_transition.cpp b/localization/autoware_ekf_localizer/test/test_state_transition.cpp
index 667c6b5ef2..2670c1fff6 100644
--- a/localization/autoware_ekf_localizer/test/test_state_transition.cpp
+++ b/localization/autoware_ekf_localizer/test/test_state_transition.cpp
@@ -13,8 +13,8 @@
 // limitations under the License.
 
 #define _USE_MATH_DEFINES
-#include "autoware/ekf_localizer/state_index.hpp"
-#include "autoware/ekf_localizer/state_transition.hpp"
+#include "include/state_index.hpp"
+#include "include/state_transition.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/autoware_ekf_localizer/test/test_string.cpp b/localization/autoware_ekf_localizer/test/test_string.cpp
index b1fae1f88b..bfcb209cde 100644
--- a/localization/autoware_ekf_localizer/test/test_string.cpp
+++ b/localization/autoware_ekf_localizer/test/test_string.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/string.hpp"
+#include "include/string.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/autoware_ekf_localizer/test/test_warning_message.cpp b/localization/autoware_ekf_localizer/test/test_warning_message.cpp
index 791e86c050..3a880691d6 100644
--- a/localization/autoware_ekf_localizer/test/test_warning_message.cpp
+++ b/localization/autoware_ekf_localizer/test/test_warning_message.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/ekf_localizer/warning_message.hpp"
+#include "include/warning_message.hpp"
 
 #include <rclcpp/rclcpp.hpp>