diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3b08971..ca2ff06 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,46 +17,8 @@ find_package(yaml-cpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(example_interfaces REQUIRED)
 
-add_library(
-  moveit_middleware_benchmark_lib SHARED
-  src/scenarios/scenario_perception_pipeline.cpp
-  src/scenarios/scenario_basic_service_client.cpp)
-
-ament_target_dependencies(
-  moveit_middleware_benchmark_lib
-  PUBLIC
-  moveit_ros_planning_interface
-  rclcpp
-  benchmark
-  dynmsg
-  nav_msgs
-  std_msgs
-  yaml-cpp
-  example_interfaces)
-
-target_include_directories(
-  moveit_middleware_benchmark_lib
-  PUBLIC $<INSTALL_INTERFACE:include>
-         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
-
-target_link_libraries(moveit_middleware_benchmark_lib
-                      PUBLIC benchmark::benchmark ${YAML_CPP_LIBRARIES})
-
-add_executable(scenario_perception_pipeline_benchmark_main
-               src/scenario_perception_pipeline_benchmark_main.cpp)
-
-target_link_libraries(scenario_perception_pipeline_benchmark_main
-                      PUBLIC moveit_middleware_benchmark_lib)
-
-add_executable(scenario_basic_service_client_benchmark_main
-               src/scenario_basic_service_client_benchmark_main.cpp)
-
-target_link_libraries(scenario_basic_service_client_benchmark_main
-                      PUBLIC moveit_middleware_benchmark_lib)
-
-install(TARGETS scenario_perception_pipeline_benchmark_main
-                scenario_basic_service_client_benchmark_main
-        DESTINATION lib/moveit_middleware_benchmark)
+add_subdirectory(src/scenario_basic_service_client)
+add_subdirectory(src/scenario_perception_pipeline)
 
 install(DIRECTORY launch config DESTINATION share/moveit_middleware_benchmark)
 
diff --git a/include/moveit_middleware_benchmark/scenarios/scenario_basic_service_client.hpp b/include/moveit_middleware_benchmark/scenario_basic_service_client/scenario_basic_service_client.hpp
similarity index 100%
rename from include/moveit_middleware_benchmark/scenarios/scenario_basic_service_client.hpp
rename to include/moveit_middleware_benchmark/scenario_basic_service_client/scenario_basic_service_client.hpp
diff --git a/include/moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp b/include/moveit_middleware_benchmark/scenario_perception_pipeline/scenario_perception_pipeline.hpp
similarity index 100%
rename from include/moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp
rename to include/moveit_middleware_benchmark/scenario_perception_pipeline/scenario_perception_pipeline.hpp
diff --git a/src/scenario_basic_service_client/CMakeLists.txt b/src/scenario_basic_service_client/CMakeLists.txt
new file mode 100644
index 0000000..e3f084c
--- /dev/null
+++ b/src/scenario_basic_service_client/CMakeLists.txt
@@ -0,0 +1,24 @@
+add_executable(
+  scenario_basic_service_client_benchmark_main
+  scenario_basic_service_client_benchmark_main.cpp
+  scenario_basic_service_client.cpp)
+
+ament_target_dependencies(
+  scenario_basic_service_client_benchmark_main
+  PUBLIC
+  rclcpp
+  benchmark
+  std_msgs
+  example_interfaces
+  ament_index_cpp)
+
+target_include_directories(
+  scenario_basic_service_client_benchmark_main
+  PUBLIC $<INSTALL_INTERFACE:include>
+         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../include>)
+
+target_link_libraries(scenario_basic_service_client_benchmark_main
+                      PUBLIC benchmark::benchmark ${YAML_CPP_LIBRARIES})
+
+install(TARGETS scenario_basic_service_client_benchmark_main
+        DESTINATION lib/moveit_middleware_benchmark)
diff --git a/src/scenarios/scenario_basic_service_client.cpp b/src/scenario_basic_service_client/scenario_basic_service_client.cpp
similarity index 97%
rename from src/scenarios/scenario_basic_service_client.cpp
rename to src/scenario_basic_service_client/scenario_basic_service_client.cpp
index 5141b0c..f43587e 100644
--- a/src/scenarios/scenario_basic_service_client.cpp
+++ b/src/scenario_basic_service_client/scenario_basic_service_client.cpp
@@ -37,7 +37,7 @@
    against basic service client works
  */
 
-#include "moveit_middleware_benchmark/scenarios/scenario_basic_service_client.hpp"
+#include "moveit_middleware_benchmark/scenario_basic_service_client/scenario_basic_service_client.hpp"
 
 namespace moveit
 {
diff --git a/src/scenario_basic_service_client_benchmark_main.cpp b/src/scenario_basic_service_client/scenario_basic_service_client_benchmark_main.cpp
similarity index 95%
rename from src/scenario_basic_service_client_benchmark_main.cpp
rename to src/scenario_basic_service_client/scenario_basic_service_client_benchmark_main.cpp
index 6653d55..2e53526 100644
--- a/src/scenario_basic_service_client_benchmark_main.cpp
+++ b/src/scenario_basic_service_client/scenario_basic_service_client_benchmark_main.cpp
@@ -37,7 +37,7 @@
    against basic service client works
  */
 
-#include "moveit_middleware_benchmark/scenarios/scenario_basic_service_client.hpp"
+#include "moveit_middleware_benchmark/scenario_basic_service_client/scenario_basic_service_client.hpp"
 
 int main(int argc, char** argv)
 {
diff --git a/src/scenario_perception_pipeline/CMakeLists.txt b/src/scenario_perception_pipeline/CMakeLists.txt
new file mode 100644
index 0000000..5069b9b
--- /dev/null
+++ b/src/scenario_perception_pipeline/CMakeLists.txt
@@ -0,0 +1,26 @@
+add_executable(
+  scenario_perception_pipeline_benchmark_main
+  scenario_perception_pipeline_benchmark_main.cpp
+  scenario_perception_pipeline.cpp)
+
+ament_target_dependencies(
+  scenario_perception_pipeline_benchmark_main
+  PUBLIC
+  moveit_ros_planning_interface
+  rclcpp
+  benchmark
+  dynmsg
+  nav_msgs
+  yaml-cpp
+  example_interfaces)
+
+target_include_directories(
+  scenario_perception_pipeline_benchmark_main
+  PUBLIC $<INSTALL_INTERFACE:include>
+         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../include>)
+
+target_link_libraries(scenario_perception_pipeline_benchmark_main
+                      PUBLIC benchmark::benchmark ${YAML_CPP_LIBRARIES})
+
+install(TARGETS scenario_perception_pipeline_benchmark_main
+        DESTINATION lib/moveit_middleware_benchmark)
diff --git a/src/scenarios/scenario_perception_pipeline.cpp b/src/scenario_perception_pipeline/scenario_perception_pipeline.cpp
similarity index 98%
rename from src/scenarios/scenario_perception_pipeline.cpp
rename to src/scenario_perception_pipeline/scenario_perception_pipeline.cpp
index d4ca7da..2d51503 100644
--- a/src/scenarios/scenario_perception_pipeline.cpp
+++ b/src/scenario_perception_pipeline/scenario_perception_pipeline.cpp
@@ -37,7 +37,7 @@
    against perception pipeline
  */
 
-#include "moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp"
+#include "moveit_middleware_benchmark/scenario_perception_pipeline/scenario_perception_pipeline.hpp"
 
 namespace moveit
 {
diff --git a/src/scenario_perception_pipeline_benchmark_main.cpp b/src/scenario_perception_pipeline/scenario_perception_pipeline_benchmark_main.cpp
similarity index 95%
rename from src/scenario_perception_pipeline_benchmark_main.cpp
rename to src/scenario_perception_pipeline/scenario_perception_pipeline_benchmark_main.cpp
index 1327ef6..cf85f95 100644
--- a/src/scenario_perception_pipeline_benchmark_main.cpp
+++ b/src/scenario_perception_pipeline/scenario_perception_pipeline_benchmark_main.cpp
@@ -37,7 +37,7 @@
    against perception pipeline
  */
 
-#include "moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp"
+#include "moveit_middleware_benchmark/scenario_perception_pipeline/scenario_perception_pipeline.hpp"
 
 int main(int argc, char** argv)
 {