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diff --git a/‎.pre-commit-config.yaml
+1-1 b/‎.pre-commit-config.yaml
+1-1
diff --git a/‎common/autoware_auto_perception_rviz_plugin/CMakeLists.txt
+84 b/‎common/autoware_auto_perception_rviz_plugin/CMakeLists.txt
+84
diff --git a/‎common/autoware_auto_perception_rviz_plugin/README.md
+62 b/‎common/autoware_auto_perception_rviz_plugin/README.md
+62
diff --git a/‎common/autoware_auto_perception_rviz_plugin/icons/classes/DetectedObjects.png
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diff --git a/‎common/autoware_auto_perception_rviz_plugin/icons/classes/PredictedObjects.png
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diff --git a/‎common/autoware_auto_perception_rviz_plugin/icons/classes/TrackedObjects.png
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diff --git a/‎common/autoware_auto_perception_rviz_plugin/images/detected-object-visualization-description.jpg
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diff --git a/‎common/autoware_auto_perception_rviz_plugin/images/predicted-object-visualization-description.jpg
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diff --git a/‎common/autoware_auto_perception_rviz_plugin/images/tracked-object-visualization-description.jpg
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diff --git a/‎common/autoware_auto_perception_rviz_plugin/include/common/color_alpha_property.hpp
+56 b/‎common/autoware_auto_perception_rviz_plugin/include/common/color_alpha_property.hpp
+56
diff --git a/‎common/autoware_auto_perception_rviz_plugin/include/object_detection/detected_objects_display.hpp
+45 b/‎common/autoware_auto_perception_rviz_plugin/include/object_detection/detected_objects_display.hpp
+45
@@ -83,4 +83,4 @@ repos:
         args: ["--quiet"]
         exclude: ".cu"
 
-exclude: ".svg"
+exclude: ".svg|common/autoware_auto_perception_rviz_plugin"
@@ -0,0 +1,84 @@
+# Copyright 2019 The Autoware Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Co-developed by Tier IV, Inc. and Apex.AI, Inc.
+
+cmake_minimum_required(VERSION 3.5)
+project(autoware_auto_perception_rviz_plugin)
+
+#dependencies
+find_package(ament_cmake_auto REQUIRED)
+find_package(Qt5 REQUIRED COMPONENTS Widgets)
+ament_auto_find_build_dependencies()
+
+set(OD_PLUGIN_LIB_SRC
+  src/object_detection/detected_objects_display.cpp
+  src/object_detection/tracked_objects_display.cpp
+  src/object_detection/predicted_objects_display.cpp
+)
+
+set(OD_PLUGIN_LIB_HEADERS
+  include/visibility_control.hpp
+)
+set(OD_PLUGIN_LIB_HEADERS_TO_WRAP
+  include/object_detection/detected_objects_display.hpp
+  include/object_detection/tracked_objects_display.hpp
+  include/object_detection/predicted_objects_display.hpp
+)
+
+set(COMMON_HEADERS
+  include/common/color_alpha_property.hpp
+  include/object_detection/object_polygon_detail.hpp
+  include/object_detection/object_polygon_display_base.hpp
+)
+
+set(COMMON_SRC
+  src/common/color_alpha_property.cpp
+  src/object_detection/object_polygon_detail.cpp
+)
+
+foreach(header "${OD_PLUGIN_LIB_HEADERS_TO_WRAP}")
+  qt5_wrap_cpp(OD_PLUGIN_LIB_HEADERS_MOC "${header}")
+endforeach()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  ${COMMON_HEADERS}
+  ${COMMON_SRC}
+  ${OD_PLUGIN_LIB_HEADERS}
+  ${OD_PLUGIN_LIB_HEADERS_MOC}
+  ${OD_PLUGIN_LIB_SRC}
+)
+target_link_libraries(${PROJECT_NAME}
+  rviz_common::rviz_common
+  Qt5::Widgets
+)
+target_include_directories(${PROJECT_NAME} PRIVATE include)
+
+# Settings to improve the build as suggested on https://github.com/ros2/rviz/blob/ros2/docs/plugin_development.md
+target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "OBJECT_DETECTION_PLUGINS_BUILDING_LIBRARY")
+
+# Export the plugin to be imported by rviz2
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+if(BUILD_TESTING)
+  # run linters
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  icons
+)
@@ -0,0 +1,62 @@
+# autoware_auto_perception_plugin
+
+## Purpose
+
+It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.
+
+See Autoware.Auto design documentation for the original design philosophy. [[1]](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/src/tools/visualization/autoware_rviz_plugins)
+
+<!-- Write the purpose of this package and briefly describe the features.
+
+Example:
+  {package_name} is a package for planning trajectories that can avoid obstacles.
+  This feature consists of two steps: obstacle filtering and optimizing trajectory.
+-->
+
+## Input Types / Visualization Results
+
+### DetectedObjects
+
+#### Input Types
+
+| Name | Type                                                  | Description            |
+| ---- | ----------------------------------------------------- | ---------------------- |
+|      | `autoware_auto_perception_msgs::msg::DetectedObjects` | detection result array |
+
+#### Visualization Result
+
+![](./images/detected-object-visualization-description.jpg)
+
+### TrackedObjects
+
+#### Input Types
+
+| Name | Type                                                 | Description           |
+| ---- | ---------------------------------------------------- | --------------------- |
+|      | `autoware_auto_perception_msgs::msg::TrackedObjects` | tracking result array |
+
+#### Visualization Result
+
+Overwrite tracking results with detection results.
+
+![](./images/tracked-object-visualization-description.jpg)
+
+### PredictedObjects
+
+#### Input Types
+
+| Name | Type                                                   | Description             |
+| ---- | ------------------------------------------------------ | ----------------------- |
+|      | `autoware_auto_perception_msgs::msg::PredictedObjects` | prediction result array |
+
+#### Visualization Result
+
+Overwrite prediction results with tracking results.
+
+![](./images/predicted-object-visualization-description.jpg)
+
+## References/External links
+
+[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins
+
+## Future extensions / Unimplemented parts
@@ -0,0 +1,56 @@
+// Copyright 2021 Apex.AI, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef COMMON__COLOR_ALPHA_PROPERTY_HPP_
+#define COMMON__COLOR_ALPHA_PROPERTY_HPP_
+
+#include <memory>
+#include <rviz_common/display.hpp>
+#include <rviz_common/properties/color_property.hpp>
+#include <rviz_common/properties/float_property.hpp>
+#include <std_msgs/msg/color_rgba.hpp>
+#include <visibility_control.hpp>
+
+namespace autoware
+{
+namespace rviz_plugins
+{
+namespace common
+{
+/// \brief Class to define Color and Alpha values as plugin properties
+class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ColorAlphaProperty
+{
+public:
+  /// \brief Constructor
+  /// \param color_default Default value for color property
+  /// \param alpha_default Default value for alpha property
+  /// \param parent_property Parent property for the color and alpha properties. Memory managed
+  ///        by the caller
+  ColorAlphaProperty(
+    const QColor & color_default, const float alpha_default,
+    rviz_common::properties::Property * parent_property);
+
+  /// \brief Convert color and alpha to ColorRGBA type
+  /// \return color and alpha values as ColorRGBA type
+  operator std_msgs::msg::ColorRGBA() const;
+
+private:
+  rviz_common::properties::ColorProperty m_color_property;
+  rviz_common::properties::FloatProperty m_alpha_property;
+};
+
+}  // namespace common
+}  // namespace rviz_plugins
+}  // namespace autoware
+
+#endif  // COMMON__COLOR_ALPHA_PROPERTY_HPP_
@@ -0,0 +1,45 @@
+// Copyright 2021 Apex.AI, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
+#define OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
+
+#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
+#include <object_detection/object_polygon_display_base.hpp>
+
+namespace autoware
+{
+namespace rviz_plugins
+{
+namespace object_detection
+{
+/// \brief Class defining rviz plugin to visualize DetectedObjects
+class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC DetectedObjectsDisplay
+  : public ObjectPolygonDisplayBase<autoware_auto_perception_msgs::msg::DetectedObjects>
+{
+  Q_OBJECT
+
+public:
+  using DetectedObjects = autoware_auto_perception_msgs::msg::DetectedObjects;
+
+  DetectedObjectsDisplay();
+
+private:
+  void processMessage(DetectedObjects::ConstSharedPtr msg) override;
+};
+
+}  // namespace object_detection
+}  // namespace rviz_plugins
+}  // namespace autoware
+
+#endif  // OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_