diff --git a/planning/planning_debug_tools/CMakeLists.txt b/planning/planning_debug_tools/CMakeLists.txt
index 389bfdaa..ec1f0b81 100644
--- a/planning/planning_debug_tools/CMakeLists.txt
+++ b/planning/planning_debug_tools/CMakeLists.txt
@@ -51,6 +51,7 @@ install(PROGRAMS
   scripts/processing_time_checker.py
   scripts/trajectory_visualizer.py
   scripts/closest_velocity_checker.py
+  scripts/cpu_usage_checker.py
   scripts/perception_replayer/perception_reproducer.py
   scripts/perception_replayer/perception_replayer.py
   scripts/update_logger_level.sh
diff --git a/planning/planning_debug_tools/README.md b/planning/planning_debug_tools/README.md
index 221959c0..ced6e707 100644
--- a/planning/planning_debug_tools/README.md
+++ b/planning/planning_debug_tools/README.md
@@ -7,6 +7,7 @@ This package contains several planning-related debug tools.
 - **Perception reproducer**: generates detected objects from rosbag data in planning simulator environment
 - **processing time checker**: displays processing_time of modules on the terminal
 - **logging level updater**: updates the logging level of the planning modules.
+- **CPU Usage Checker**: displays CPU usage of ROS processes on the terminal
 
 ## Trajectory analyzer
 
@@ -292,3 +293,15 @@ ros2 run planning_debug_tools update_logger_level.sh <module-name> <logger-level
 When you have a typo of the planning module, the script will show the available modules.
 
 ![logging_level_updater_typo](image/logging_level_updater_typo.png)
+
+## CPU Usage Checker
+
+The purpose of the CPU Usage Checker is to monitor and visualize the CPU usage of the ROS processes. By providing a real-time terminal-based visualization, users can easily confirm the cpu usage as in the picture below.
+
+![cpu_usage_checker](image/cpu_usage_checker.png)
+
+You can run the program by the following command.
+
+```bash
+ros2 run planning_debug_tools cpu_usage_checker.py
+```
diff --git a/planning/planning_debug_tools/image/cpu_usage_checker.png b/planning/planning_debug_tools/image/cpu_usage_checker.png
new file mode 100644
index 00000000..c1a933cb
Binary files /dev/null and b/planning/planning_debug_tools/image/cpu_usage_checker.png differ
diff --git a/planning/planning_debug_tools/scripts/cpu_usage_checker.py b/planning/planning_debug_tools/scripts/cpu_usage_checker.py
new file mode 100755
index 00000000..6a0ad653
--- /dev/null
+++ b/planning/planning_debug_tools/scripts/cpu_usage_checker.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 TIER IV, 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.
+
+import os
+import threading
+
+import psutil
+
+
+def get_cpu_usage(pid, cpu_usages, interval):
+    try:
+        proc = psutil.Process(pid)
+        cpu_usage = proc.cpu_percent(interval=interval)
+        cmdline = proc.cmdline()
+        process_name = " ".join(cmdline)
+        component = process_name.split("__ns:=/")[1].split("/")[0].split(" ")[0]
+        if component == "":
+            component = "others"
+        container = process_name.split("__node:=", 1)[1].split(" ")[0]
+        cpu_usages[pid] = {"component": component, "container": container, "usage": cpu_usage}
+    except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess, IndexError):
+        pass
+
+
+def print_cpu_usage(cpu_usages):
+    # clear terminal
+    os.system("clear")
+    if not cpu_usages:
+        print("No processes found with the specified name.")
+        return
+
+    # sort in the order of component name
+    sorted_cpu_usages = sorted(cpu_usages.items(), key=lambda x: x[1]["component"])
+
+    print(" CPU Usage")
+    print("-" * 185)
+
+    last_component = None
+    for pid, data in sorted_cpu_usages:
+        component = data["component"]
+        container = data["container"]
+        usage = data["usage"]
+        bar = "#" * int(usage)
+
+        if last_component and last_component != component:
+            print("|" + "-" * 17 + "|" + "-" * 57 + "|" + "-" * 7 + "|" + "-" * 100)
+
+        last_component = component
+        process_info = f"| {component.split('/')[-1].ljust(15)} | {container.ljust(55)} | {str(usage).ljust(4)}% | {bar}"
+        print(process_info)
+
+    print("-" * 185)
+
+
+def main():
+    cpu_usages = {}
+    while True:
+        # create thread to calculate cpu usage of each process since it takes time
+        process_name_keyword = "__node:="
+        threads = []
+        for proc in psutil.process_iter(["pid", "name", "cpu_percent", "cmdline"]):
+            try:
+                if process_name_keyword in " ".join(proc.info["cmdline"]):
+                    pid = proc.info["pid"]
+                    thread = threading.Thread(target=get_cpu_usage, args=(pid, cpu_usages, 1.0))
+                    threads.append(thread)
+                    thread.start()
+            except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
+                pass
+
+        # wait for all the thread to finish
+        for thread in threads:
+            thread.join()
+
+        # print cpu usage
+        print_cpu_usage(cpu_usages)
+
+
+if __name__ == "__main__":
+    main()