diff --git a/src/sensing/multi_layered_pointcloud_filter/CMakeLists.txt b/src/sensing/pointcloud_filter/multi_layered_pointcloud_filter/CMakeLists.txt
similarity index 100%
rename from src/sensing/multi_layered_pointcloud_filter/CMakeLists.txt
rename to src/sensing/pointcloud_filter/multi_layered_pointcloud_filter/CMakeLists.txt
diff --git a/src/sensing/multi_layered_pointcloud_filter/include/multi_layered_pointcloud_filter/multi_layered_pointcloud_filter.hpp b/src/sensing/pointcloud_filter/multi_layered_pointcloud_filter/include/multi_layered_pointcloud_filter/multi_layered_pointcloud_filter.hpp
similarity index 100%
rename from src/sensing/multi_layered_pointcloud_filter/include/multi_layered_pointcloud_filter/multi_layered_pointcloud_filter.hpp
rename to src/sensing/pointcloud_filter/multi_layered_pointcloud_filter/include/multi_layered_pointcloud_filter/multi_layered_pointcloud_filter.hpp
diff --git a/src/sensing/multi_layered_pointcloud_filter/include/multi_layered_pointcloud_filter/pointcloud_filter_base.hpp b/src/sensing/pointcloud_filter/multi_layered_pointcloud_filter/include/multi_layered_pointcloud_filter/pointcloud_filter_base.hpp
similarity index 100%
rename from src/sensing/multi_layered_pointcloud_filter/include/multi_layered_pointcloud_filter/pointcloud_filter_base.hpp
rename to src/sensing/pointcloud_filter/multi_layered_pointcloud_filter/include/multi_layered_pointcloud_filter/pointcloud_filter_base.hpp
diff --git a/src/sensing/multi_layered_pointcloud_filter/package.xml b/src/sensing/pointcloud_filter/multi_layered_pointcloud_filter/package.xml
similarity index 100%
rename from src/sensing/multi_layered_pointcloud_filter/package.xml
rename to src/sensing/pointcloud_filter/multi_layered_pointcloud_filter/package.xml
diff --git a/src/sensing/multi_layered_pointcloud_filter/src/multi_layered_pointcloud_filter.cpp b/src/sensing/pointcloud_filter/multi_layered_pointcloud_filter/src/multi_layered_pointcloud_filter.cpp
similarity index 100%
rename from src/sensing/multi_layered_pointcloud_filter/src/multi_layered_pointcloud_filter.cpp
rename to src/sensing/pointcloud_filter/multi_layered_pointcloud_filter/src/multi_layered_pointcloud_filter.cpp