diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 3cd05ecddc..9148a67b52 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1676,7 +1676,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lanechange
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
@@ -1688,7 +1688,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lanefollowing
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
@@ -1700,7 +1700,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pullover
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pull_over
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
@@ -1712,7 +1712,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pullout
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pull_out
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
@@ -1724,7 +1724,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/sideshift
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false