diff --git a/common/tier4_planning_rviz_plugin/include/path/display_base.hpp b/common/tier4_planning_rviz_plugin/include/path/display_base.hpp
index 74c2a60df3f32..f41048169bbd6 100644
--- a/common/tier4_planning_rviz_plugin/include/path/display_base.hpp
+++ b/common/tier4_planning_rviz_plugin/include/path/display_base.hpp
@@ -315,6 +315,9 @@ class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay<T>
         node->detachAllObjects();
         node->removeAndDestroyAllChildren();
         this->scene_manager_->destroySceneNode(node);
+
+        rviz_rendering::MovableText * text = velocity_texts_.at(i);
+        delete text;
       }
       velocity_texts_.resize(msg_ptr->points.size());
       velocity_text_nodes_.resize(msg_ptr->points.size());
@@ -338,6 +341,9 @@ class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay<T>
         node->detachAllObjects();
         node->removeAndDestroyAllChildren();
         this->scene_manager_->destroySceneNode(node);
+
+        rviz_rendering::MovableText * text = slope_texts_.at(i);
+        delete text;
       }
       slope_texts_.resize(msg_ptr->points.size());
       slope_text_nodes_.resize(msg_ptr->points.size());