diff --git a/common/tier4_planning_rviz_plugin/include/trajectory_footprint/display.hpp b/common/tier4_planning_rviz_plugin/include/trajectory_footprint/display.hpp
index 9159fc31144b1..38fbd39932506 100644
--- a/common/tier4_planning_rviz_plugin/include/trajectory_footprint/display.hpp
+++ b/common/tier4_planning_rviz_plugin/include/trajectory_footprint/display.hpp
@@ -45,8 +45,6 @@ template <typename T>
 class AutowareFootprintDisplay
 : public rviz_common::MessageFilterDisplay<T>
 {
-  Q_OBJECT
-
 public:
   AutowareFootprintDisplay()
   {
@@ -114,6 +112,7 @@ class AutowareFootprintDisplay
     point_manual_object_->setDynamic(true);
     this->scene_node_->attachObject(point_manual_object_);
   }
+
   void reset() override
   {
     rviz_common::MessageFilterDisplay<T>::MFDClass::reset();
@@ -310,6 +309,7 @@ private Q_SLOTS:
     }
     float length, width, rear_overhang;
   };
+
   std::shared_ptr<VehicleInfo> vehicle_info_;
   std::shared_ptr<VehicleFootprintInfo> vehicle_footprint_info_;
 
@@ -327,8 +327,10 @@ private Q_SLOTS:
 };
 
 class AutowareTrajectoryFootprintDisplay
-: public AutowareFootprintDisplay<autoware_auto_planning_msgs::msg::Trajectory>
+  : public AutowareFootprintDisplay<autoware_auto_planning_msgs::msg::Trajectory>
 {
+  Q_OBJECT
+
 public:
   AutowareTrajectoryFootprintDisplay();
 };
diff --git a/common/tier4_planning_rviz_plugin/plugins/plugin_description.xml b/common/tier4_planning_rviz_plugin/plugins/plugin_description.xml
index 1c8de86fb7e70..44e4c42c24034 100644
--- a/common/tier4_planning_rviz_plugin/plugins/plugin_description.xml
+++ b/common/tier4_planning_rviz_plugin/plugins/plugin_description.xml
@@ -34,11 +34,11 @@
     base_class_type="rviz_common::Display">
     <description>Display trajectory points of autoware_auto_planning_msg::Trajectory</description>
   </class>
-  <!-- <class name="rviz_plugins/TrajectoryFootprint" -->
-  <!--   type="rviz_plugins::AutowareTrajectoryFootprintDisplay" -->
-  <!--   base_class_type="rviz_common::Display"> -->
-  <!--   <description>Display footprint of autoware_auto_planning_msg::Trajectory</description> -->
-  <!-- </class> -->
+  <class name="rviz_plugins/TrajectoryFootprint"
+    type="rviz_plugins::AutowareTrajectoryFootprintDisplay"
+    base_class_type="rviz_common::Display">
+    <description>Display footprint of autoware_auto_planning_msg::Trajectory</description>
+  </class>
   <class name="rviz_plugins/MaxVelocity"
     type="rviz_plugins::MaxVelocityDisplay"
     base_class_type="rviz_common::Display">
diff --git a/common/tier4_planning_rviz_plugin/src/trajectory_footprint/display.cpp b/common/tier4_planning_rviz_plugin/src/trajectory_footprint/display.cpp
index 8559471cde7b0..1066b0c459fbc 100644
--- a/common/tier4_planning_rviz_plugin/src/trajectory_footprint/display.cpp
+++ b/common/tier4_planning_rviz_plugin/src/trajectory_footprint/display.cpp
@@ -26,4 +26,4 @@ namespace rviz_plugins
 }
 
 #include <tf2/utils.h>
-// PLUGINLIB_EXPORT_CLASS(rviz_plugins::AutowareTrajectoryFootprintDisplay, rviz_common::Display)
+PLUGINLIB_EXPORT_CLASS(rviz_plugins::AutowareTrajectoryFootprintDisplay, rviz_common::Display)