diff --git a/common/autoware_pyplot/CMakeLists.txt b/common/autoware_pyplot/CMakeLists.txt
new file mode 100644
index 0000000000000..6922d5d9306f7
--- /dev/null
+++ b/common/autoware_pyplot/CMakeLists.txt
@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.14)
+
+project(autoware_pyplot)
+
+find_package(autoware_cmake REQUIRED)
+
+find_package(
+  Python3
+  COMPONENTS Interpreter Development
+  REQUIRED)
+find_package(pybind11 REQUIRED)
+
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} STATIC
+  DIRECTORY src
+)
+target_link_libraries(${PROJECT_NAME} ${Python3_LIBRARIES} pybind11::embed)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
+
+  file(GLOB_RECURSE test_files test/*.cpp)
+
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files})
+
+  target_link_libraries(test_${PROJECT_NAME}
+    ${PROJECT_NAME}
+  )
+endif()
+
+ament_auto_package()
diff --git a/common/autoware_pyplot/include/autoware/pyplot/axes.hpp b/common/autoware_pyplot/include/autoware/pyplot/axes.hpp
new file mode 100644
index 0000000000000..53eb2daf21b8f
--- /dev/null
+++ b/common/autoware_pyplot/include/autoware/pyplot/axes.hpp
@@ -0,0 +1,141 @@
+// 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.
+
+#ifndef AUTOWARE__PYPLOT__AXES_HPP_
+#define AUTOWARE__PYPLOT__AXES_HPP_
+
+#include <autoware/pyplot/common.hpp>
+#include <autoware/pyplot/legend.hpp>
+#include <autoware/pyplot/quiver.hpp>
+
+#include <tuple>
+
+namespace autoware::pyplot
+{
+inline namespace axes
+{
+class DECL_VISIBILITY Axes : public PyObjectWrapper
+{
+public:
+  explicit Axes(const pybind11::object & object);
+  explicit Axes(pybind11::object && object);
+
+  PyObjectWrapper add_patch(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper bar_label(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper cla(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper contour(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper errorbar(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper fill(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper fill_between(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  std::tuple<double, double> get_xlim() const;
+
+  std::tuple<double, double> get_ylim() const;
+
+  PyObjectWrapper grid(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper imshow(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  legend::Legend legend(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper plot(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  quiver::Quiver quiver(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_aspect(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_title(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_xlabel(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_xlim(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_ylabel(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_ylim(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper text(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+private:
+  void load_attrs();
+
+  pybind11::object add_patch_attr;
+  pybind11::object cla_attr;
+  pybind11::object contour_attr;
+  pybind11::object contourf_attr;
+  pybind11::object fill_attr;
+  pybind11::object fill_between_attr;
+  pybind11::object get_xlim_attr;
+  pybind11::object get_ylim_attr;
+  pybind11::object grid_attr;
+  pybind11::object imshow_attr;
+  pybind11::object legend_attr;
+  pybind11::object quiver_attr;
+  pybind11::object plot_attr;
+  pybind11::object scatter_attr;
+  pybind11::object set_aspect_attr;
+  pybind11::object set_title_attr;
+  pybind11::object set_xlabel_attr;
+  pybind11::object set_xlim_attr;
+  pybind11::object set_ylabel_attr;
+  pybind11::object set_ylim_attr;
+  pybind11::object text_attr;
+};
+}  // namespace axes
+}  // namespace autoware::pyplot
+#endif  // AUTOWARE__PYPLOT__AXES_HPP_
diff --git a/common/autoware_pyplot/include/autoware/pyplot/common.hpp b/common/autoware_pyplot/include/autoware/pyplot/common.hpp
new file mode 100644
index 0000000000000..123bd82029e08
--- /dev/null
+++ b/common/autoware_pyplot/include/autoware/pyplot/common.hpp
@@ -0,0 +1,44 @@
+// 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.
+
+#ifndef AUTOWARE__PYPLOT__COMMON_HPP_
+#define AUTOWARE__PYPLOT__COMMON_HPP_
+
+#include <pybind11/pybind11.h>
+
+namespace autoware::pyplot
+{
+
+#ifdef _WIN32
+#define DECL_VISIBILITY __declspec(dllexport)
+#else
+#define DECL_VISIBILITY __attribute__((visibility("hidden")))
+#endif
+
+inline namespace common
+{
+class DECL_VISIBILITY PyObjectWrapper
+{
+public:
+  explicit PyObjectWrapper(const pybind11::object & object);
+  explicit PyObjectWrapper(pybind11::object && object);
+  pybind11::object unwrap() const { return self_; }
+
+protected:
+  pybind11::object self_;
+};
+}  // namespace common
+}  // namespace autoware::pyplot
+
+#endif  // AUTOWARE__PYPLOT__COMMON_HPP_
diff --git a/common/autoware_pyplot/include/autoware/pyplot/figure.hpp b/common/autoware_pyplot/include/autoware/pyplot/figure.hpp
new file mode 100644
index 0000000000000..d438682d5b368
--- /dev/null
+++ b/common/autoware_pyplot/include/autoware/pyplot/figure.hpp
@@ -0,0 +1,62 @@
+// 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.
+
+#ifndef AUTOWARE__PYPLOT__FIGURE_HPP_
+#define AUTOWARE__PYPLOT__FIGURE_HPP_
+
+#include <autoware/pyplot/axes.hpp>
+#include <autoware/pyplot/common.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace figure
+{
+class DECL_VISIBILITY Figure : public PyObjectWrapper
+{
+public:
+  explicit Figure(const pybind11::object & object);
+  explicit Figure(pybind11::object && object);
+
+  axes::Axes add_axes(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  axes::Axes add_subplot(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper colorbar(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper savefig(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper tight_layout(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+private:
+  void load_attrs();
+
+  pybind11::object add_axes_attr;
+  pybind11::object add_subplot_attr;
+  pybind11::object colorbar_attr;
+  pybind11::object savefig_attr;
+  pybind11::object tight_layout_attr;
+};
+}  // namespace figure
+}  // namespace autoware::pyplot
+#endif  // AUTOWARE__PYPLOT__FIGURE_HPP_
diff --git a/common/autoware_pyplot/include/autoware/pyplot/legend.hpp b/common/autoware_pyplot/include/autoware/pyplot/legend.hpp
new file mode 100644
index 0000000000000..853f1e288407c
--- /dev/null
+++ b/common/autoware_pyplot/include/autoware/pyplot/legend.hpp
@@ -0,0 +1,32 @@
+// 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.
+
+#ifndef AUTOWARE__PYPLOT__LEGEND_HPP_
+#define AUTOWARE__PYPLOT__LEGEND_HPP_
+
+#include <autoware/pyplot/common.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace legend
+{
+class DECL_VISIBILITY Legend : public PyObjectWrapper
+{
+public:
+  explicit Legend(const pybind11::object & object);
+  explicit Legend(pybind11::object && object);
+};
+}  // namespace legend
+}  // namespace autoware::pyplot
+#endif  // AUTOWARE__PYPLOT__LEGEND_HPP_
diff --git a/common/autoware_pyplot/include/autoware/pyplot/loader.hpp b/common/autoware_pyplot/include/autoware/pyplot/loader.hpp
new file mode 100644
index 0000000000000..df44c257d5925
--- /dev/null
+++ b/common/autoware_pyplot/include/autoware/pyplot/loader.hpp
@@ -0,0 +1,28 @@
+// 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.
+
+#ifndef AUTOWARE__PYPLOT__LOADER_HPP_
+#define AUTOWARE__PYPLOT__LOADER_HPP_
+
+namespace autoware::pyplot
+{
+
+#define LOAD_FUNC_ATTR(obj, mod) \
+  do {                           \
+    obj##_attr = mod.attr(#obj); \
+  } while (0)
+
+}  // namespace autoware::pyplot
+
+#endif  // AUTOWARE__PYPLOT__LOADER_HPP_
diff --git a/common/autoware_pyplot/include/autoware/pyplot/patches.hpp b/common/autoware_pyplot/include/autoware/pyplot/patches.hpp
new file mode 100644
index 0000000000000..0c6c545942c74
--- /dev/null
+++ b/common/autoware_pyplot/include/autoware/pyplot/patches.hpp
@@ -0,0 +1,57 @@
+// 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.
+
+#ifndef AUTOWARE__PYPLOT__PATCHES_HPP_
+#define AUTOWARE__PYPLOT__PATCHES_HPP_
+
+#include <autoware/pyplot/common.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace patches
+{
+class DECL_VISIBILITY Circle : public PyObjectWrapper
+{
+public:
+  explicit Circle(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+};
+
+class DECL_VISIBILITY Ellipse : public PyObjectWrapper
+{
+public:
+  explicit Ellipse(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+};
+
+class DECL_VISIBILITY Rectangle : public PyObjectWrapper
+{
+public:
+  explicit Rectangle(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+};
+
+class DECL_VISIBILITY Polygon : public PyObjectWrapper
+{
+public:
+  explicit Polygon(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+};
+}  // namespace patches
+}  // namespace autoware::pyplot
+#endif  // AUTOWARE__PYPLOT__PATCHES_HPP_
diff --git a/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp b/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp
new file mode 100644
index 0000000000000..83e0febeb237f
--- /dev/null
+++ b/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp
@@ -0,0 +1,164 @@
+// 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.
+
+#ifndef AUTOWARE__PYPLOT__PYPLOT_HPP_
+#define AUTOWARE__PYPLOT__PYPLOT_HPP_
+
+#include <autoware/pyplot/axes.hpp>
+#include <autoware/pyplot/common.hpp>
+#include <autoware/pyplot/figure.hpp>
+
+#include <tuple>
+#include <utility>
+#include <vector>
+
+namespace autoware::pyplot
+{
+struct DECL_VISIBILITY PyPlot
+{
+public:
+  explicit PyPlot(const pybind11::module & mod_);
+
+  axes::Axes axes(const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper axis(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper cla(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper clf(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  figure::Figure figure(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  axes::Axes gca(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  figure::Figure gcf(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper gci(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper grid(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper imshow(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper legend(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper plot(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper quiver(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper savefig(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper scatter(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper show(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  axes::Axes subplot(const pybind11::dict & kwargs = pybind11::dict());
+  axes::Axes subplot(int cri);
+
+  std::tuple<figure::Figure, axes::Axes> subplots(const pybind11::dict & kwargs = pybind11::dict());
+  std::tuple<figure::Figure, std::vector<axes::Axes>> subplots(
+    int r, int c, const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper title(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper xlabel(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper xlim(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper ylabel(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+  PyObjectWrapper ylim(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict());
+
+private:
+  void load_attrs();
+  pybind11::module mod;
+  pybind11::object axes_attr;
+  pybind11::object cla_attr;
+  pybind11::object clf_attr;
+  pybind11::object figure_attr;
+  pybind11::object gca_attr;
+  pybind11::object gcf_attr;
+  pybind11::object gci_attr;
+  pybind11::object grid_attr;
+  pybind11::object imshow_attr;
+  pybind11::object legend_attr;
+  pybind11::object plot_attr;
+  pybind11::object quiver_attr;
+  pybind11::object savefig_attr;
+  pybind11::object scatter_attr;
+  pybind11::object show_attr;
+  pybind11::object subplot_attr;
+  pybind11::object subplots_attr;
+  pybind11::object title_attr;
+  pybind11::object xlabel_attr;
+  pybind11::object xlim_attr;
+  pybind11::object ylabel_attr;
+  pybind11::object ylim_attr;
+};
+
+PyPlot import();
+
+}  // namespace autoware::pyplot
+
+template <typename... ArgsT>
+pybind11::tuple Args(ArgsT &&... args)
+{
+  return pybind11::make_tuple(std::forward<ArgsT>(args)...);
+}
+
+using Kwargs = pybind11::dict;
+
+namespace py = pybind11;
+using namespace py::literals;
+
+#endif  // AUTOWARE__PYPLOT__PYPLOT_HPP_
diff --git a/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp b/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp
new file mode 100644
index 0000000000000..443c0540d9308
--- /dev/null
+++ b/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp
@@ -0,0 +1,32 @@
+// 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.
+
+#ifndef AUTOWARE__PYPLOT__QUIVER_HPP_
+#define AUTOWARE__PYPLOT__QUIVER_HPP_
+
+#include <autoware/pyplot/common.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace quiver
+{
+class DECL_VISIBILITY Quiver : public PyObjectWrapper
+{
+public:
+  explicit Quiver(const pybind11::object & object);
+  explicit Quiver(pybind11::object && object);
+};
+}  // namespace quiver
+}  // namespace autoware::pyplot
+#endif  // AUTOWARE__PYPLOT__QUIVER_HPP_
diff --git a/common/autoware_pyplot/include/autoware/pyplot/text.hpp b/common/autoware_pyplot/include/autoware/pyplot/text.hpp
new file mode 100644
index 0000000000000..27f892e90488f
--- /dev/null
+++ b/common/autoware_pyplot/include/autoware/pyplot/text.hpp
@@ -0,0 +1,40 @@
+// 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.
+
+#ifndef AUTOWARE__PYPLOT__TEXT_HPP_
+#define AUTOWARE__PYPLOT__TEXT_HPP_
+
+#include <autoware/pyplot/common.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace text
+{
+class DECL_VISIBILITY Text : public PyObjectWrapper
+{
+public:
+  explicit Text(const pybind11::object & object);
+  explicit Text(pybind11::object && object);
+
+  PyObjectWrapper set_rotation(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+private:
+  void load_attrs();
+  pybind11::object set_rotation_attr;
+};
+}  // namespace text
+}  // namespace autoware::pyplot
+#endif  // AUTOWARE__PYPLOT__TEXT_HPP_
diff --git a/common/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml
new file mode 100644
index 0000000000000..1391db88cddff
--- /dev/null
+++ b/common/autoware_pyplot/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_pyplot</name>
+  <version>0.1.0</version>
+  <description>C++ interface for matplotlib based on pybind11</description>
+  <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
+  <maintainer email="yukinari.hisaki.2@tier4.jp">Yukinari Hisaki</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="mamoru.sobue@tier4.jp">Mamoru Sobue</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>pybind11-dev</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/common/autoware_pyplot/src/axes.cpp b/common/autoware_pyplot/src/axes.cpp
new file mode 100644
index 0000000000000..0f08ffe5773f6
--- /dev/null
+++ b/common/autoware_pyplot/src/axes.cpp
@@ -0,0 +1,154 @@
+// 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.
+
+#include <autoware/pyplot/axes.hpp>
+#include <autoware/pyplot/loader.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace axes
+{
+Axes::Axes(const pybind11::object & object) : PyObjectWrapper(object)
+{
+  load_attrs();
+}
+Axes::Axes(pybind11::object && object) : PyObjectWrapper(object)
+{
+  load_attrs();
+}
+
+PyObjectWrapper Axes::add_patch(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{add_patch_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::cla(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{cla_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::contour(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{contour_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::fill(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{fill_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::fill_between(
+  const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{fill_between_attr(*args, **kwargs)};
+}
+
+std::tuple<double, double> Axes::get_xlim() const
+{
+  const pybind11::list ret = get_xlim_attr();
+  return {ret[0].cast<double>(), ret[1].cast<double>()};
+}
+
+std::tuple<double, double> Axes::get_ylim() const
+{
+  const pybind11::list ret = get_ylim_attr();
+  return {ret[0].cast<double>(), ret[1].cast<double>()};
+}
+
+PyObjectWrapper Axes::grid(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{grid_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::imshow(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{imshow_attr(*args, **kwargs)};
+}
+
+legend::Legend Axes::legend(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return legend::Legend{legend_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::plot(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{plot_attr(*args, **kwargs)};
+}
+
+quiver::Quiver Axes::quiver(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return Quiver{quiver_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::set_aspect(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{set_aspect_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::set_title(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{set_title_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::set_xlabel(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{set_xlabel_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::set_xlim(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{set_xlim_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::set_ylabel(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{set_ylabel_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::set_ylim(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{set_ylim_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Axes::text(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{text_attr(*args, **kwargs)};
+}
+
+void Axes::load_attrs()
+{
+  LOAD_FUNC_ATTR(add_patch, self_);
+  LOAD_FUNC_ATTR(cla, self_);
+  LOAD_FUNC_ATTR(contour, self_);
+  LOAD_FUNC_ATTR(contourf, self_);
+  LOAD_FUNC_ATTR(fill, self_);
+  LOAD_FUNC_ATTR(fill_between, self_);
+  LOAD_FUNC_ATTR(get_xlim, self_);
+  LOAD_FUNC_ATTR(get_ylim, self_);
+  LOAD_FUNC_ATTR(grid, self_);
+  LOAD_FUNC_ATTR(imshow, self_);
+  LOAD_FUNC_ATTR(legend, self_);
+  LOAD_FUNC_ATTR(quiver, self_);
+  LOAD_FUNC_ATTR(plot, self_);
+  LOAD_FUNC_ATTR(scatter, self_);
+  LOAD_FUNC_ATTR(set_aspect, self_);
+  LOAD_FUNC_ATTR(set_title, self_);
+  LOAD_FUNC_ATTR(set_xlabel, self_);
+  LOAD_FUNC_ATTR(set_xlim, self_);
+  LOAD_FUNC_ATTR(set_ylabel, self_);
+  LOAD_FUNC_ATTR(set_ylim, self_);
+  LOAD_FUNC_ATTR(text, self_);
+}
+}  // namespace axes
+}  // namespace autoware::pyplot
diff --git a/common/autoware_pyplot/src/common.cpp b/common/autoware_pyplot/src/common.cpp
new file mode 100644
index 0000000000000..5b3fffa37f30e
--- /dev/null
+++ b/common/autoware_pyplot/src/common.cpp
@@ -0,0 +1,30 @@
+// 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.
+
+#include <autoware/pyplot/common.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace common
+{
+PyObjectWrapper::PyObjectWrapper(const pybind11::object & object)
+{
+  self_ = object;
+}
+PyObjectWrapper::PyObjectWrapper(pybind11::object && object)
+{
+  self_ = std::move(object);
+}
+}  // namespace common
+}  // namespace autoware::pyplot
diff --git a/common/autoware_pyplot/src/figure.cpp b/common/autoware_pyplot/src/figure.cpp
new file mode 100644
index 0000000000000..07aacf8dd516a
--- /dev/null
+++ b/common/autoware_pyplot/src/figure.cpp
@@ -0,0 +1,66 @@
+// 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.
+
+#include <autoware/pyplot/figure.hpp>
+#include <autoware/pyplot/loader.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace figure
+{
+Figure::Figure(const pybind11::object & object) : PyObjectWrapper(object)
+{
+  load_attrs();
+}
+Figure::Figure(pybind11::object && object) : PyObjectWrapper(object)
+{
+  load_attrs();
+}
+
+void Figure::load_attrs()
+{
+  LOAD_FUNC_ATTR(add_axes, self_);
+  LOAD_FUNC_ATTR(add_subplot, self_);
+  LOAD_FUNC_ATTR(colorbar, self_);
+  LOAD_FUNC_ATTR(savefig, self_);
+  LOAD_FUNC_ATTR(tight_layout, self_);
+}
+
+axes::Axes Figure::add_axes(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return axes::Axes{add_axes_attr(*args, **kwargs)};
+}
+
+axes::Axes Figure::add_subplot(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return axes::Axes{add_subplot_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Figure::colorbar(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{colorbar_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Figure::savefig(const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{savefig_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper Figure::tight_layout(
+  const pybind11::tuple & args, const pybind11::dict & kwargs) const
+{
+  return PyObjectWrapper{tight_layout_attr(*args, **kwargs)};
+}
+}  // namespace figure
+}  // namespace autoware::pyplot
diff --git a/common/autoware_pyplot/src/legend.cpp b/common/autoware_pyplot/src/legend.cpp
new file mode 100644
index 0000000000000..e5a128725fec7
--- /dev/null
+++ b/common/autoware_pyplot/src/legend.cpp
@@ -0,0 +1,28 @@
+// 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.
+
+#include <autoware/pyplot/legend.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace legend
+{
+Legend::Legend(const pybind11::object & object) : PyObjectWrapper(object)
+{
+}
+Legend::Legend(pybind11::object && object) : PyObjectWrapper(object)
+{
+}
+}  // namespace legend
+}  // namespace autoware::pyplot
diff --git a/common/autoware_pyplot/src/patches.cpp b/common/autoware_pyplot/src/patches.cpp
new file mode 100644
index 0000000000000..4df4de27e81e3
--- /dev/null
+++ b/common/autoware_pyplot/src/patches.cpp
@@ -0,0 +1,45 @@
+// 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.
+
+#include <autoware/pyplot/patches.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace patches
+{
+Circle::Circle(const pybind11::tuple & args, const pybind11::dict & kwargs)
+: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Circle"))
+{
+  self_ = self_(*args, **kwargs);
+}
+
+Ellipse::Ellipse(const pybind11::tuple & args, const pybind11::dict & kwargs)
+: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Ellipse"))
+{
+  self_ = self_(*args, **kwargs);
+}
+
+Rectangle::Rectangle(const pybind11::tuple & args, const pybind11::dict & kwargs)
+: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Rectangle"))
+{
+  self_ = self_(*args, **kwargs);
+}
+
+Polygon::Polygon(const pybind11::tuple & args, const pybind11::dict & kwargs)
+: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Polygon"))
+{
+  self_ = self_(*args, **kwargs);
+}
+}  // namespace patches
+}  // namespace autoware::pyplot
diff --git a/common/autoware_pyplot/src/pyplot.cpp b/common/autoware_pyplot/src/pyplot.cpp
new file mode 100644
index 0000000000000..d45d34a35d767
--- /dev/null
+++ b/common/autoware_pyplot/src/pyplot.cpp
@@ -0,0 +1,205 @@
+// 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.
+
+#include <autoware/pyplot/loader.hpp>
+#include <autoware/pyplot/pyplot.hpp>
+
+namespace autoware::pyplot
+{
+PyPlot::PyPlot(const pybind11::module & mod_) : mod(mod_)
+{
+  load_attrs();
+}
+
+void PyPlot::load_attrs()
+{
+  LOAD_FUNC_ATTR(axes, mod);
+  LOAD_FUNC_ATTR(cla, mod);
+  LOAD_FUNC_ATTR(clf, mod);
+  LOAD_FUNC_ATTR(figure, mod);
+  LOAD_FUNC_ATTR(gca, mod);
+  LOAD_FUNC_ATTR(gcf, mod);
+  LOAD_FUNC_ATTR(gci, mod);
+  LOAD_FUNC_ATTR(grid, mod);
+  LOAD_FUNC_ATTR(imshow, mod);
+  LOAD_FUNC_ATTR(legend, mod);
+  LOAD_FUNC_ATTR(plot, mod);
+  LOAD_FUNC_ATTR(quiver, mod);
+  LOAD_FUNC_ATTR(savefig, mod);
+  LOAD_FUNC_ATTR(scatter, mod);
+  LOAD_FUNC_ATTR(show, mod);
+  LOAD_FUNC_ATTR(subplot, mod);
+  LOAD_FUNC_ATTR(subplots, mod);
+  LOAD_FUNC_ATTR(title, mod);
+  LOAD_FUNC_ATTR(xlabel, mod);
+  LOAD_FUNC_ATTR(xlim, mod);
+  LOAD_FUNC_ATTR(ylabel, mod);
+  LOAD_FUNC_ATTR(ylim, mod);
+}
+
+axes::Axes PyPlot::axes(const pybind11::dict & kwargs)
+{
+  return axes::Axes{axes_attr(**kwargs)};
+}
+
+PyObjectWrapper PyPlot::cla(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{cla_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::clf(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{clf_attr(*args, **kwargs)};
+}
+
+figure::Figure PyPlot::figure(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return figure::Figure{figure_attr(*args, **kwargs)};
+}
+
+axes::Axes PyPlot::gca(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return axes::Axes{gca_attr(*args, **kwargs)};
+}
+
+figure::Figure PyPlot::gcf(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return figure::Figure{gcf_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::gci(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{gci_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::grid(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{grid_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::imshow(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{imshow_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::legend(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{legend_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::plot(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{plot_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::quiver(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{quiver_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::scatter(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{scatter_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::savefig(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{savefig_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::show(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{show_attr(*args, **kwargs)};
+}
+
+axes::Axes PyPlot::subplot(const pybind11::dict & kwargs)
+{
+  return axes::Axes(subplot_attr(**kwargs));
+}
+
+axes::Axes PyPlot::subplot(int cri)
+{
+  return axes::Axes(subplot_attr(cri));
+}
+
+std::tuple<figure::Figure, axes::Axes> PyPlot::subplots(const pybind11::dict & kwargs)
+{
+  pybind11::list ret = subplots_attr(**kwargs);
+  pybind11::object fig = ret[0];
+  pybind11::object ax = ret[1];
+  return {figure::Figure(fig), axes::Axes(ax)};
+}
+
+std::tuple<figure::Figure, std::vector<axes::Axes>> PyPlot::subplots(
+  int r, int c, const pybind11::dict & kwargs)
+{
+  // subplots() returns [][] (if r > 1 && c > 1) else []
+  // return []axes in row-major
+  // NOTE: equal to Axes.flat
+  pybind11::tuple args = pybind11::make_tuple(r, c);
+  pybind11::list ret = subplots_attr(*args, **kwargs);
+  std::vector<axes::Axes> axes;
+  pybind11::object fig = ret[0];
+  figure::Figure figure(fig);
+  if (r == 1 && c == 1) {
+    // python returns Axes
+    axes.emplace_back(ret[1]);
+  } else if (r == 1 || c == 1) {
+    // python returns []Axes
+    pybind11::list axs = ret[1];
+    for (int i = 0; i < r * c; ++i) axes.emplace_back(axs[i]);
+  } else {
+    // python returns [][]Axes
+    pybind11::list axs = ret[1];
+    for (pybind11::size_t i = 0; i < axs.size(); ++i) {
+      pybind11::list ax_i = axs[i];
+      for (unsigned j = 0; j < ax_i.size(); ++j) axes.emplace_back(ax_i[j]);
+    }
+  }
+  return {figure, axes};
+}
+
+PyObjectWrapper PyPlot::title(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{title_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::xlabel(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{xlabel_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::xlim(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{xlim_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::ylabel(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{ylabel_attr(*args, **kwargs)};
+}
+
+PyObjectWrapper PyPlot::ylim(const pybind11::tuple & args, const pybind11::dict & kwargs)
+{
+  return PyObjectWrapper{ylim_attr(*args, **kwargs)};
+}
+
+PyPlot import()
+{
+  auto mod = pybind11::module::import("matplotlib.pyplot");
+  auto g_pyplot = PyPlot(mod);
+  return g_pyplot;
+}
+
+}  // namespace autoware::pyplot
diff --git a/common/autoware_pyplot/src/quiver.cpp b/common/autoware_pyplot/src/quiver.cpp
new file mode 100644
index 0000000000000..72614fb6227a7
--- /dev/null
+++ b/common/autoware_pyplot/src/quiver.cpp
@@ -0,0 +1,28 @@
+// 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.
+
+#include <autoware/pyplot/quiver.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace quiver
+{
+Quiver::Quiver(const pybind11::object & object) : PyObjectWrapper(object)
+{
+}
+Quiver::Quiver(pybind11::object && object) : PyObjectWrapper(object)
+{
+}
+}  // namespace quiver
+}  // namespace autoware::pyplot
diff --git a/common/autoware_pyplot/src/text.cpp b/common/autoware_pyplot/src/text.cpp
new file mode 100644
index 0000000000000..024c7c2daf946
--- /dev/null
+++ b/common/autoware_pyplot/src/text.cpp
@@ -0,0 +1,35 @@
+// 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.
+
+#include <autoware/pyplot/loader.hpp>
+#include <autoware/pyplot/text.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace text
+{
+Text::Text(const pybind11::object & object) : PyObjectWrapper(object)
+{
+}
+
+Text::Text(pybind11::object && object) : PyObjectWrapper(object)
+{
+}
+
+void Text::load_attrs()
+{
+  LOAD_FUNC_ATTR(set_rotation, self_);
+}
+}  // namespace text
+}  // namespace autoware::pyplot
diff --git a/common/autoware_pyplot/test/test_pyplot.cpp b/common/autoware_pyplot/test/test_pyplot.cpp
new file mode 100644
index 0000000000000..2055709c61f52
--- /dev/null
+++ b/common/autoware_pyplot/test/test_pyplot.cpp
@@ -0,0 +1,64 @@
+// 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.
+
+#include <autoware/pyplot/patches.hpp>
+#include <autoware/pyplot/pyplot.hpp>
+
+#include <gtest/gtest.h>
+#include <pybind11/embed.h>
+/*
+  very weirdly, you must include <pybind11/stl.h> to pass vector. Although the code
+  compiles without it, the executable crashes at runtime
+ */
+#include <pybind11/stl.h>
+
+#include <vector>
+
+TEST(PyPlot, single_plot)
+{
+  // NOTE: somehow, running multiple tests simultaneously causes the python interpreter to crash
+  py::scoped_interpreter guard{};
+  auto plt = autoware::pyplot::import();
+  {
+    plt.plot(Args(std::vector<int>({1, 3, 2, 4})), Kwargs("color"_a = "blue", "linewidth"_a = 1.0));
+    plt.xlabel(Args("x-title"));
+    plt.ylabel(Args("y-title"));
+    plt.title(Args("title"));
+    plt.xlim(Args(0, 5));
+    plt.ylim(Args(0, 5));
+    plt.grid(Args(true));
+    plt.savefig(Args("test_single_plot.png"));
+  }
+  {
+    auto [fig, axes] = plt.subplots(1, 2);
+    auto & ax1 = axes[0];
+    auto & ax2 = axes[1];
+
+    auto c =
+      autoware::pyplot::Circle(Args(py::make_tuple(0, 0), 0.5), Kwargs("fc"_a = "g", "ec"_a = "r"));
+    ax1.add_patch(Args(c.unwrap()));
+
+    auto e = autoware::pyplot::Ellipse(
+      Args(py::make_tuple(-0.25, 0), 0.5, 0.25), Kwargs("fc"_a = "b", "ec"_a = "y"));
+    ax1.add_patch(Args(e.unwrap()));
+
+    auto r = autoware::pyplot::Rectangle(
+      Args(py::make_tuple(0, 0), 0.25, 0.5), Kwargs("ec"_a = "#000000", "fill"_a = false));
+    ax2.add_patch(Args(r.unwrap()));
+
+    ax1.set_aspect(Args("equal"));
+    ax2.set_aspect(Args("equal"));
+    plt.savefig(Args("test_double_plot.svg"));
+  }
+}