diff --git a/common/autoware_debug_tools/README.md b/common/autoware_debug_tools/README.md
index 23b29776..f06c3540 100644
--- a/common/autoware_debug_tools/README.md
+++ b/common/autoware_debug_tools/README.md
@@ -107,3 +107,15 @@ ros2 run autoware_debug_tools cpu_usage_plotter <bag-path> -n 20
 ```
 
 ![cpu_usage_plot_example](images/cpu_usage_plot_example.png)
+
+## Rosout Log Reconstructor
+
+This script shows the log from the `/rosout` topic on the terminal.
+
+### Usage
+
+```bash
+ros2 run autoware_debug_tools rosout_log_reconstructor
+```
+
+![rosout_log_example](images/rosout_log_example.png)
diff --git a/common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py b/common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py
new file mode 100755
index 00000000..4007c669
--- /dev/null
+++ b/common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py
@@ -0,0 +1,89 @@
+#!/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 sys
+
+import rcl_interfaces
+from rcl_interfaces.msg import Log
+import rclpy
+from rclpy.node import Node
+
+
+def get_rosout_format():
+    try:
+        rosout_format = os.environ["RCUTILS_CONSOLE_OUTPUT_FORMAT"]
+        if rosout_format != "":
+            return rosout_format
+    except KeyError:
+        pass
+
+    # use default rosout format
+    return "[{severity} {time}] [{name}]: {message} ({function_name}():{line_number})"
+
+
+def get_logger_level_name(level):
+    if level == int.from_bytes(rcl_interfaces.msg.Log.DEBUG, byteorder="big"):
+        return "DEBUG"
+    if level == int.from_bytes(rcl_interfaces.msg.Log.INFO, byteorder="big"):
+        return "INFO"
+    if level == int.from_bytes(rcl_interfaces.msg.Log.WARN, byteorder="big"):
+        return "WARN"
+    if level == int.from_bytes(rcl_interfaces.msg.Log.ERROR, byteorder="big"):
+        return "ERROR"
+    return "FATAL"
+
+
+class RosoutLogReconstructor(Node):
+    def __init__(self):
+        super().__init__("rosout_log_reconstructor")
+
+        self.rosout_format = get_rosout_format()
+
+        transient_local = rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL
+        transient_local_profile = rclpy.qos.QoSProfile(depth=1, durability=transient_local)
+        self.sub_rosout = self.create_subscription(
+            Log, "/rosout", self.on_rosout, transient_local_profile
+        )
+
+    def on_rosout(self, msg):
+        severity = get_logger_level_name(msg.level)
+
+        text = self.rosout_format.format(
+            time=msg.stamp,
+            name=msg.name,
+            severity=severity,
+            function_name=msg.function,
+            message=msg.msg,
+            file_name=msg.file,
+            line_number=msg.line,
+        )
+        if severity == "WARN":
+            sys.stderr.write("\x1b[33m" + text + "\x1b[0m" + "\n")
+        elif severity == "ERROR":
+            sys.stderr.write("\x1b[1;31m" + text + "\x1b[0m" + "\n")
+        else:
+            print(text)
+
+
+def main():
+    rclpy.init()
+    node = RosoutLogReconstructor()
+    rclpy.spin(node)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/common/autoware_debug_tools/images/rosout_log_example.png b/common/autoware_debug_tools/images/rosout_log_example.png
new file mode 100644
index 00000000..f367b690
Binary files /dev/null and b/common/autoware_debug_tools/images/rosout_log_example.png differ
diff --git a/common/autoware_debug_tools/setup.py b/common/autoware_debug_tools/setup.py
index b61d4a8e..bd2fb9d0 100644
--- a/common/autoware_debug_tools/setup.py
+++ b/common/autoware_debug_tools/setup.py
@@ -27,6 +27,7 @@
             "memory_usage_plotter = autoware_debug_tools.system_performance_plotter.memory_usage_plotter:main",
             "topic_connection_checker = autoware_debug_tools.topic_connection_checker.topic_connection_checker_node:main",
             "topic_localizer = autoware_debug_tools.topic_connection_checker.localize_topic:main",
+            "rosout_log_reconstructor = autoware_debug_tools.rosout_log_reconstructor:main",
         ],
     },
 )