diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
index 082dc95d6500a..e14defcb47f26 100644
--- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
+++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
@@ -224,6 +224,9 @@ void Lanelet2MapVisualizationNode::onMapBin(
   insertMarkerArray(
     &map_marker_array,
     lanelet::visualization::generateLaneletIdMarker(road_lanelets, cl_lanelet_id));
+  insertMarkerArray(
+    &map_marker_array, lanelet::visualization::generateLaneletIdMarker(
+                         crosswalk_lanelets, cl_lanelet_id, "crosswalk_lanelet_id"));
   insertMarkerArray(
     &map_marker_array, lanelet::visualization::laneletsAsTriangleMarkerArray(
                          "shoulder_road_lanelets", shoulder_lanelets, cl_shoulder));