diff --git a/common/motion_utils/include/motion_utils/marker/marker_helper.hpp b/common/motion_utils/include/motion_utils/marker/marker_helper.hpp
index db63bb1b00528..714220d5dedc4 100644
--- a/common/motion_utils/include/motion_utils/marker/marker_helper.hpp
+++ b/common/motion_utils/include/motion_utils/marker/marker_helper.hpp
@@ -15,7 +15,7 @@
 #ifndef MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
 #define MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
 
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include <string>
 
@@ -23,15 +23,15 @@ namespace motion_utils
 {
 visualization_msgs::msg::MarkerArray createStopVirtualWallMarker(
   const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
-  const int32_t id);
+  const int32_t id, const double longitudinal_offset = 0.0);
 
 visualization_msgs::msg::MarkerArray createSlowDownVirtualWallMarker(
   const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
-  const int32_t id);
+  const int32_t id, const double longitudinal_offset = 0.0);
 
 visualization_msgs::msg::MarkerArray createDeadLineVirtualWallMarker(
   const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
-  const int32_t id);
+  const int32_t id, const double longitudinal_offset = 0.0);
 
 visualization_msgs::msg::MarkerArray createDeletedStopVirtualWallMarker(
   const rclcpp::Time & now, const int32_t id);
diff --git a/common/motion_utils/src/marker/marker_helper.cpp b/common/motion_utils/src/marker/marker_helper.cpp
index b90c86df5f006..d88bcada25193 100644
--- a/common/motion_utils/src/marker/marker_helper.cpp
+++ b/common/motion_utils/src/marker/marker_helper.cpp
@@ -83,26 +83,32 @@ namespace motion_utils
 {
 visualization_msgs::msg::MarkerArray createStopVirtualWallMarker(
   const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
-  const int32_t id)
+  const int32_t id, const double longitudinal_offset)
 {
+  const auto pose_with_offset =
+    tier4_autoware_utils::calcOffsetPose(pose, longitudinal_offset, 0.0, 0.0);
   return createVirtualWallMarkerArray(
-    pose, module_name, "stop_", now, id, createMarkerColor(1.0, 0.0, 0.0, 0.5));
+    pose_with_offset, module_name, "stop_", now, id, createMarkerColor(1.0, 0.0, 0.0, 0.5));
 }
 
 visualization_msgs::msg::MarkerArray createSlowDownVirtualWallMarker(
   const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
-  const int32_t id)
+  const int32_t id, const double longitudinal_offset)
 {
+  const auto pose_with_offset =
+    tier4_autoware_utils::calcOffsetPose(pose, longitudinal_offset, 0.0, 0.0);
   return createVirtualWallMarkerArray(
-    pose, module_name, "slow_down_", now, id, createMarkerColor(1.0, 1.0, 0.0, 0.5));
+    pose_with_offset, module_name, "slow_down_", now, id, createMarkerColor(1.0, 1.0, 0.0, 0.5));
 }
 
 visualization_msgs::msg::MarkerArray createDeadLineVirtualWallMarker(
   const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
-  const int32_t id)
+  const int32_t id, const double longitudinal_offset)
 {
+  const auto pose_with_offset =
+    tier4_autoware_utils::calcOffsetPose(pose, longitudinal_offset, 0.0, 0.0);
   return createVirtualWallMarkerArray(
-    pose, module_name, "dead_line_", now, id, createMarkerColor(0.0, 1.0, 0.0, 0.5));
+    pose_with_offset, module_name, "dead_line_", now, id, createMarkerColor(0.0, 1.0, 0.0, 0.5));
 }
 
 visualization_msgs::msg::MarkerArray createDeletedStopVirtualWallMarker(
diff --git a/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
index 7dfea47d34e30..0ca0c817182f6 100644
--- a/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
+++ b/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
@@ -238,11 +238,10 @@ VelocityLimit PIDBasedPlanner::doCruise(
                                   : std::abs(vehicle_info_.min_longitudinal_offset_m);
   const double dist_to_rss_wall =
     std::min(dist_to_cruise + abs_ego_offset, dist_to_obstacle + abs_ego_offset);
-  const size_t wall_idx = obstacle_cruise_utils::getIndexWithLongitudinalOffset(
-    planner_data.traj.points, dist_to_rss_wall, ego_idx);
 
   const auto markers = motion_utils::createSlowDownVirtualWallMarker(
-    planner_data.traj.points.at(wall_idx).pose, "obstacle cruise", planner_data.current_time, 0);
+    planner_data.traj.points.at(ego_idx).pose, "obstacle cruise", planner_data.current_time, 0,
+    dist_to_rss_wall);
   tier4_autoware_utils::appendMarkerArray(markers, &debug_wall_marker);
 
   debug_obstacles_to_cruise.push_back(cruise_obstacle_info.obstacle);
diff --git a/planning/obstacle_cruise_planner/src/planner_interface.cpp b/planning/obstacle_cruise_planner/src/planner_interface.cpp
index e73d83e749139..db2c9c4407ca6 100644
--- a/planning/obstacle_cruise_planner/src/planner_interface.cpp
+++ b/planning/obstacle_cruise_planner/src/planner_interface.cpp
@@ -195,13 +195,10 @@ Trajectory PlannerInterface::generateStopTrajectory(
     std::max(0.0, closest_obstacle_dist - abs_ego_offset - feasible_margin_from_obstacle);
   const auto zero_vel_idx = motion_utils::insertStopPoint(0, zero_vel_dist, output_traj.points);
   if (zero_vel_idx) {
-    const auto wall_idx = obstacle_cruise_utils::getIndexWithLongitudinalOffset(
-      output_traj.points, abs_ego_offset, *zero_vel_idx);
-
     // virtual wall marker for stop obstacle
-    const auto marker_pose = output_traj.points.at(wall_idx).pose;
     const auto markers = motion_utils::createStopVirtualWallMarker(
-      marker_pose, "obstacle stop", planner_data.current_time, 0);
+      output_traj.points.at(*zero_vel_idx).pose, "obstacle stop", planner_data.current_time, 0,
+      abs_ego_offset);
     tier4_autoware_utils::appendMarkerArray(markers, &debug_data.stop_wall_marker);
     debug_data.obstacles_to_stop.push_back(*closest_stop_obstacle);