diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 97dd22a13d..bc22eadb70 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -3451,7 +3451,179 @@ Visualization Manager:
           Enabled: true
           Name: Perception
         - Class: rviz_common/Group
-          Displays: ~
+          Displays:
+            - Class: rviz_common/Group
+              Displays:
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: LaneChangeLeft
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/lane_change_left
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: LaneChangeRight
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/lane_change_right
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: AvoidanceLeft
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/avoidance_left
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: AvoidanceRight
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/avoidance_right
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: AvoidanceByLCLeft
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/avoidance_by_lc_left
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: AvoidanceByLCRight
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/avoidance_by_lc_right
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: StartPlanner
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/start_planner
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: GoalPlanner
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/goal_planner
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: Crosswalk
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/crosswalk
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: Intersection
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/intersection
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: BlindSpot
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/blind_spot
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: TrafficLight
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/traffic_light
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: DetectionArea
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/detection_area
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: NoStoppingArea
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/no_stopping_area
+                  Value: true
+              Enabled: true
+              Name: Objects Of Interest
           Enabled: true
           Name: Planning
         - Class: rviz_common/Group