diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py
index a4f8dee7af1a0..9b978b66feefb 100644
--- a/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py
+++ b/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py
@@ -147,7 +147,7 @@ def __init__(self):
             elif sensor["type"] == "sensor.lidar.ray_cast":
                 if sensor["id"] in self.sensor_frequencies:
                     self.pub_lidar[sensor["id"]] = self.ros2_node.create_publisher(
-                        PointCloud2, f'/sensing/lidar/{sensor["id"]}/pointcloud', 10
+                        PointCloud2, f'/sensing/lidar/{sensor["id"]}/pointcloud_before_sync', 10
                     )
                 else:
                     self.ros2_node.get_logger().info(