diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index e444d203f3..c50e937e15 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1414,21 +1414,64 @@ Visualization Manager:
                       Name: VirtualWall
                     - Class: rviz_common/Group
                       Displays:
-                        - Class: rviz_default_plugins/MarkerArray
+                        - Class: rviz_common/Group
+                          Displays:
+                            - Class: rviz_default_plugins/MarkerArray
+                              Enabled: true
+                              Name: SurroundObstacleCheck
+                              Namespaces:
+                                {}
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker
+                              Value: true
+                            - Alpha: 1
+                              Class: rviz_default_plugins/Polygon
+                              Color: 25; 255; 0
+                              Enabled: false
+                              Name: Footprint
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                Filter size: 10
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint
+                              Value: false
+                            - Alpha: 1
+                              Class: rviz_default_plugins/Polygon
+                              Color: 239; 41; 41
+                              Enabled: false
+                              Name: FootprintOffset
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                Filter size: 10
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset
+                              Value: false
+                            - Alpha: 1
+                              Class: rviz_default_plugins/Polygon
+                              Color: 10; 21; 255
+                              Enabled: false
+                              Name: FootprintRecoverOffset
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                Filter size: 10
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset
+                              Value: false
                           Enabled: true
-                          Name: ObstacleStop
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker
-                          Value: true
+                          Name: SurroundObstacleChecker
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
-                          Name: SurroundObstacleCheck
+                          Name: ObstacleStop
                           Namespaces:
                             {}
                           Topic: