diff --git a/beluga_tutorial/package.xml b/beluga_tutorial/package.xml
index 857770ee2..747a02cd0 100644
--- a/beluga_tutorial/package.xml
+++ b/beluga_tutorial/package.xml
@@ -18,6 +18,10 @@
   <depend>beluga</depend>
   <depend condition="$ROS_VERSION == 2">yaml_cpp_vendor</depend>
 
+  <exec_depend condition="$ROS_VERSION == 2">python3-matplotlib</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">python3-numpy</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">python3-yaml</exec_depend>
+
   <export>
     <build_type>cmake</build_type>
   </export>
diff --git a/beluga_tutorial/scripts/visualize.py b/beluga_tutorial/scripts/visualize.py
new file mode 100755
index 000000000..e89126b4b
--- /dev/null
+++ b/beluga_tutorial/scripts/visualize.py
@@ -0,0 +1,168 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Ekumen, 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.
+
+"""Visualization Scripts for Beluga Tutorial.
+
+This script uses the matplotlib to visualize the data generated
+by beluga_tutorial example code.
+"""
+
+import argparse
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+import numpy as np
+import yaml
+
+
+def plot_stages(yaml_data, axs, index):
+    particles = yaml_data['simulation_records'][index]["particles"]
+    for j, stage in enumerate(['current', 'prediction', 'update']):
+        states = particles[stage]['states']
+        ax = axs[j]
+        ax.clear()
+        ax.hist(
+            states,
+            bins=np.arange(min(states), max(states) + 0.5, 0.5),
+            color='skyblue',
+            edgecolor='black',
+        )
+        ax.set_title(f"{stage} - Sim Cycle {index+1}")
+        ax.set_xlabel("States")
+        ax.set_ylabel("NP")
+        ax.set_xlim(-5, 100)
+        ax.set_xticks(np.arange(-5, 101, 5))
+
+    landmark_map = yaml_data["landmark_map"]
+    ax_landmark = axs[3]
+    ax_landmark.clear()
+
+    for x in range(101):
+        if x in landmark_map:
+            color = 'red'
+        else:
+            color = 'blue'
+        ax_landmark.bar(x, 1, color=color)
+
+    ax_landmark.set_title("Landmark Map")
+    ax_landmark.set_xlabel("States")
+    ax_landmark.set_xlim(-5, 100)
+    ax_landmark.set_ylim(0, 2)
+    ax_landmark.set_xticks(np.arange(-5, 101, 5))
+
+    ground_truth = yaml_data['simulation_records'][index]["ground_truth"]
+    ax_ground_truth = axs[4]
+    ax_ground_truth.clear()
+    ax_ground_truth.bar(ground_truth, 1, color='green')
+    ax_ground_truth.set_title(f"Ground Truth: {ground_truth}")
+    ax_ground_truth.set_xlabel("States")
+    ax_ground_truth.set_xlim(-5, 100)
+    ax_ground_truth.set_ylim(0, 2)
+    ax_ground_truth.set_xticks(np.arange(-5, 101, 5))
+
+    mean = "{:.3f}".format(yaml_data['simulation_records'][index]["estimation"]["mean"])
+    sd = "{:.3f}".format(yaml_data['simulation_records'][index]["estimation"]["sd"])
+    plt.text(
+        0.5,
+        0.5,
+        f"Mean: {mean}\nSD: {sd}",
+        ha='center',
+        va='center',
+        transform=axs[4].transAxes,
+        bbox=dict(facecolor='white', alpha=0.5),
+    )
+
+    plt.tight_layout()
+    plt.draw()
+
+
+def main(argv=None) -> int:
+    """Run the entry point of the program."""
+    parser = argparse.ArgumentParser(description=globals()['__doc__'])
+
+    parser.add_argument(
+        'record_file_path',
+        type=str,
+        help='Absolute path to the record file generated by the beluga_tutorial example code',
+    )
+
+    parser.add_argument(
+        '-m',
+        '--manual-control',
+        action='store_true',
+        help='Manual controlling the time steps of the visualization',
+    )
+
+    parser.add_argument(
+        '-i',
+        '--interval-ms',
+        type=int,
+        help='Delay between frames in milliseconds.',
+        required=False,
+        default=250,
+    )
+
+    parser.add_argument(
+        '-r',
+        '--repeat-animation',
+        action='store_true',
+        help='Repeat the animation when it is finished',
+    )
+
+    args = parser.parse_args(argv)
+
+    with open(args.record_file_path, 'r') as file:
+        yaml_data = yaml.safe_load(file)
+
+    fig, axs = plt.subplots(5, 1)
+    num_frames = len(yaml_data['simulation_records'])
+
+    def plot_stages_update(current_frame: int) -> None:
+        """Update plots (Helper function)."""
+        plot_stages(yaml_data, axs, current_frame)
+
+    if args.manual_control:
+        current_frame = 0
+        plot_stages_update(current_frame)
+
+        def on_key(event):
+            """Handle key events (Callback function)."""
+            nonlocal current_frame
+
+            if event.key == 'right':
+                current_frame += 1
+            elif event.key == 'left':
+                current_frame -= 1
+
+            current_frame %= num_frames
+            plot_stages_update(current_frame)
+
+        fig.canvas.mpl_connect('key_press_event', on_key)
+
+    else:
+        anim = animation.FuncAnimation(  # noqa: F841
+            fig,
+            plot_stages_update,
+            frames=num_frames,
+            blit=False,
+            interval=args.interval_ms,
+            repeat=args.repeat_animation,
+        )
+
+    plt.show()
+
+
+if __name__ == '__main__':
+    exit(main())