diff --git a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp
index cc43da7114630..be4fe885ae8c1 100644
--- a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp
+++ b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp
@@ -28,6 +28,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
 #include "autoware_auto_control_msgs/msg/longitudinal_command.hpp"
@@ -121,6 +122,8 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
 
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+
   void publishProcessingTime(
     const double t_ms, const rclcpp::Publisher<Float64Stamped>::SharedPtr pub);
   StopWatch<std::chrono::milliseconds> stop_watch_;
diff --git a/control/trajectory_follower_node/src/controller_node.cpp b/control/trajectory_follower_node/src/controller_node.cpp
index 322aa9eef5a79..5b1388e3065f1 100644
--- a/control/trajectory_follower_node/src/controller_node.cpp
+++ b/control/trajectory_follower_node/src/controller_node.cpp
@@ -91,6 +91,8 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control
   }
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 Controller::LateralControllerMode Controller::getLateralControllerMode(
@@ -231,7 +233,12 @@ void Controller::callbackTimerControl()
   out.longitudinal = lon_out.control_cmd;
   control_cmd_pub_->publish(out);
 
-  // 6. publish debug marker
+  // 6. publish published time only if enabled by parameter
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(control_cmd_pub_, out.stamp);
+  }
+
+  // 7. publish debug marker
   publishDebugMarker(*input_data, lat_out);
 }
 
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
index aec2ede53d9e7..90cdd7670968f 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
+++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -242,6 +242,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
     this, get_clock(), period_ns, std::bind(&VehicleCmdGate::publishStatus, this));
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 bool VehicleCmdGate::isHeartbeatTimeout(
@@ -456,7 +458,16 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands)
   // Publish commands
   vehicle_cmd_emergency_pub_->publish(vehicle_cmd_emergency);
   control_cmd_pub_->publish(filtered_commands.control);
+
+  // Publish published time only if enabled by parameter
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(control_cmd_pub_, filtered_commands.control.stamp);
+  }
+
+  // Publish pause state to api
   adapi_pause_->publish();
+
+  // Publish moderate stop state which is used for stop request
   moderate_stop_interface_->publish();
 
   // Save ControlCmd to steering angle when disengaged
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
index b79c58d120443..1907cf123632f 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
+++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
@@ -23,6 +23,7 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <motion_utils/vehicle/vehicle_state_checker.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 #include <vehicle_cmd_gate/msg/is_filter_activated.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
@@ -248,6 +249,8 @@ class VehicleCmdGate : public rclcpp::Node
   void publishMarkers(const IsFilterActivated & filter_activated);
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
 }  // namespace vehicle_cmd_gate
diff --git a/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp b/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp
index 68a15113254d9..d14952cdda54e 100644
--- a/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp
+++ b/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp
@@ -16,6 +16,7 @@
 #define DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
@@ -33,6 +34,7 @@ class DetectedObjectFeatureRemover : public rclcpp::Node
 private:
   rclcpp::Subscription<DetectedObjectsWithFeature>::SharedPtr sub_;
   rclcpp::Publisher<DetectedObjects>::SharedPtr pub_;
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
   void objectCallback(const DetectedObjectsWithFeature::ConstSharedPtr input);
   void convert(const DetectedObjectsWithFeature & objs_with_feature, DetectedObjects & objs);
 };
diff --git a/perception/detected_object_feature_remover/package.xml b/perception/detected_object_feature_remover/package.xml
index 44571a3c18dd4..80d07291e17ce 100644
--- a/perception/detected_object_feature_remover/package.xml
+++ b/perception/detected_object_feature_remover/package.xml
@@ -13,6 +13,7 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp b/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp
index d1e007d7ef65f..3f06883c42e0d 100644
--- a/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp
+++ b/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp
@@ -23,6 +23,9 @@ DetectedObjectFeatureRemover::DetectedObjectFeatureRemover(const rclcpp::NodeOpt
   pub_ = this->create_publisher<DetectedObjects>("~/output", rclcpp::QoS(1));
   sub_ = this->create_subscription<DetectedObjectsWithFeature>(
     "~/input", 1, std::bind(&DetectedObjectFeatureRemover::objectCallback, this, _1));
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void DetectedObjectFeatureRemover::objectCallback(
@@ -31,6 +34,11 @@ void DetectedObjectFeatureRemover::objectCallback(
   DetectedObjects output;
   convert(*input, output);
   pub_->publish(output);
+
+  // Publish published time if enabled by parameter
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(pub_, output.header.stamp);
+  }
 }
 
 void DetectedObjectFeatureRemover::convert(
diff --git a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
index e3c3263466033..f3871aaf98117 100644
--- a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
@@ -20,6 +20,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
@@ -68,6 +69,8 @@ class ObjectLaneletFilterNode : public rclcpp::Node
   bool isPolygonOverlapLanelets(const Polygon2d &, const lanelet::ConstLanelets &);
   geometry_msgs::msg::Polygon setFootprint(
     const autoware_auto_perception_msgs::msg::DetectedObject &);
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
 }  // namespace object_lanelet_filter
diff --git a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
index be25eb6a353e6..9cc9c51747c52 100644
--- a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
@@ -19,6 +19,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
@@ -51,6 +52,8 @@ class ObjectPositionFilterNode : public rclcpp::Node
   float lower_bound_y_;
   utils::FilterTargetLabel filter_target_;
   bool isObjectInBounds(const autoware_auto_perception_msgs::msg::DetectedObject & object) const;
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
 }  // namespace object_position_filter
diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index eb6da6bc45b24..742455c60a42c 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -21,6 +21,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -148,6 +149,7 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
   std::shared_ptr<Debugger> debugger_;
   bool using_2d_validator_;
   std::unique_ptr<Validator> validator_;
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 
 private:
   void onObjectsAndObstaclePointCloud(
diff --git a/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
index 5fd866d09e725..9be990ebc1787 100644
--- a/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
@@ -19,6 +19,7 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/opencv.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
@@ -42,6 +43,7 @@ class OccupancyGridBasedValidator : public rclcpp::Node
   message_filters::Subscriber<nav_msgs::msg::OccupancyGrid> occ_grid_sub_;
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 
   typedef message_filters::sync_policies::ApproximateTime<
     autoware_auto_perception_msgs::msg::DetectedObjects, nav_msgs::msg::OccupancyGrid>
diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/object_lanelet_filter.cpp
index 74000a91e60fc..dd65c4e628b49 100644
--- a/perception/detected_object_validation/src/object_lanelet_filter.cpp
+++ b/perception/detected_object_validation/src/object_lanelet_filter.cpp
@@ -55,6 +55,9 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod
 
   debug_publisher_ =
     std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "object_lanelet_filter");
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void ObjectLaneletFilterNode::mapCallback(
@@ -120,6 +123,10 @@ void ObjectLaneletFilterNode::objectCallback(
   }
   object_pub_->publish(output_object_msg);
 
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(object_pub_, output_object_msg.header.stamp);
+  }
+
   // Publish debug info
   const double pipeline_latency =
     std::chrono::duration<double, std::milli>(
diff --git a/perception/detected_object_validation/src/object_position_filter.cpp b/perception/detected_object_validation/src/object_position_filter.cpp
index a509fc7571dd5..3927db81a602f 100644
--- a/perception/detected_object_validation/src/object_position_filter.cpp
+++ b/perception/detected_object_validation/src/object_position_filter.cpp
@@ -42,6 +42,9 @@ ObjectPositionFilterNode::ObjectPositionFilterNode(const rclcpp::NodeOptions & n
     "input/object", rclcpp::QoS{1}, std::bind(&ObjectPositionFilterNode::objectCallback, this, _1));
   object_pub_ = this->create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
     "output/object", rclcpp::QoS{1});
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void ObjectPositionFilterNode::objectCallback(
@@ -65,6 +68,10 @@ void ObjectPositionFilterNode::objectCallback(
   }
 
   object_pub_->publish(output_object_msg);
+
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(object_pub_, output_object_msg.header.stamp);
+  }
 }
 
 bool ObjectPositionFilterNode::isObjectInBounds(
diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
index f3f56652792e9..e005b3327b893 100644
--- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
+++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -309,6 +309,9 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator(
 
   const bool enable_debugger = declare_parameter<bool>("enable_debugger", false);
   if (enable_debugger) debugger_ = std::make_shared<Debugger>(this);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(
   const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_objects,
@@ -347,6 +350,11 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(
   }
 
   objects_pub_->publish(output);
+
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(objects_pub_, output.header.stamp);
+  }
+
   if (debugger_) {
     debugger_->publishRemovedObjects(removed_objects);
     debugger_->publishNeighborPointcloud(input_obstacle_pointcloud->header);
diff --git a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
index 80e4dc66d35c2..22a2e2b90cc0f 100644
--- a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
+++ b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
@@ -52,6 +52,9 @@ OccupancyGridBasedValidator::OccupancyGridBasedValidator(const rclcpp::NodeOptio
 
   mean_threshold_ = declare_parameter<float>("mean_threshold", 0.6);
   enable_debug_ = declare_parameter<bool>("enable_debug", false);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void OccupancyGridBasedValidator::onObjectsAndOccGrid(
@@ -86,6 +89,10 @@ void OccupancyGridBasedValidator::onObjectsAndOccGrid(
 
   objects_pub_->publish(output);
 
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(objects_pub_, output.header.stamp);
+  }
+
   if (enable_debug_) showDebugImage(*input_occ_grid, transformed_objects, occ_grid);
 }
 
diff --git a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
index 771747c80bb95..7747a37ee2f29 100644
--- a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
+++ b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
@@ -23,6 +23,7 @@
 #include <euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <shape_estimation/shape_estimator.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
@@ -83,6 +84,8 @@ class DetectionByTracker : public rclcpp::Node
 
   detection_by_tracker::utils::TrackerIgnoreLabel tracker_ignore_;
 
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+
   void setMaxSearchRange();
 
   void onObjects(
diff --git a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp b/perception/detection_by_tracker/src/detection_by_tracker_core.cpp
index 2595315e1f9b2..d8d55d97f427e 100644
--- a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp
+++ b/perception/detection_by_tracker/src/detection_by_tracker_core.cpp
@@ -177,6 +177,9 @@ DetectionByTracker::DetectionByTracker(const rclcpp::NodeOptions & node_options)
   cluster_ = std::make_shared<euclidean_cluster::VoxelGridBasedEuclideanCluster>(
     false, 10, 10000, 0.7, 0.3, 0);
   debugger_ = std::make_shared<Debugger>(this);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void DetectionByTracker::setMaxSearchRange()
@@ -220,6 +223,10 @@ void DetectionByTracker::onObjects(
       !object_recognition_utils::transformObjects(
         objects, input_msg->header.frame_id, tf_buffer_, transformed_objects)) {
       objects_pub_->publish(detected_objects);
+
+      if (published_time_publisher_) {
+        published_time_publisher_->publish(objects_pub_, detected_objects.header.stamp);
+      }
       return;
     }
     // to simplify post processes, convert tracked_objects to DetectedObjects message.
@@ -250,6 +257,10 @@ void DetectionByTracker::onObjects(
   }
 
   objects_pub_->publish(detected_objects);
+
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(objects_pub_, detected_objects.header.stamp);
+  }
 }
 
 void DetectionByTracker::divideUnderSegmentedObjects(
diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp
index 474c9884eb36f..963579e5763c2 100644
--- a/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp
+++ b/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp
@@ -21,6 +21,7 @@
 #include <lidar_centerpoint/detection_class_remapper.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 #include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_object_kinematics.hpp>
@@ -63,6 +64,8 @@ class LidarCenterPointNode : public rclcpp::Node
   std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
     nullptr};
   std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
 }  // namespace centerpoint
diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp
index d370a60a26aa5..eafc129b4d00f 100644
--- a/perception/lidar_centerpoint/src/node.cpp
+++ b/perception/lidar_centerpoint/src/node.cpp
@@ -126,6 +126,9 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
     RCLCPP_INFO(this->get_logger(), "TensorRT engine is built and shutdown node.");
     rclcpp::shutdown();
   }
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void LidarCenterPointNode::pointCloudCallback(
@@ -163,6 +166,10 @@ void LidarCenterPointNode::pointCloudCallback(
 
   if (objects_sub_count > 0) {
     objects_pub_->publish(output_msg);
+
+    if (published_time_publisher_) {
+      published_time_publisher_->publish(objects_pub_, output_msg.header.stamp);
+    }
   }
 
   // add processing time for debug
diff --git a/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp b/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
index 321342c3d8367..1b531e5a4f7fa 100644
--- a/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
+++ b/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
@@ -21,6 +21,7 @@
 #include "tier4_autoware_utils/ros/update_param.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 #include <tier4_autoware_utils/ros/transform_listener.hpp>
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>
 #include <tier4_autoware_utils/system/stop_watch.hpp>
@@ -199,6 +200,9 @@ class MapBasedPredictionNode : public rclcpp::Node
   // Stop watch
   StopWatch<std::chrono::milliseconds> stop_watch_;
 
+  // PublishedTime Publisher
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+
   // Member Functions
   void mapCallback(const HADMapBin::ConstSharedPtr msg);
   void trafficSignalsCallback(const TrafficSignalArray::ConstSharedPtr msg);
diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp
index 21697bb1b5f1a..c253cc77116a3 100644
--- a/perception/map_based_prediction/src/map_based_prediction_node.cpp
+++ b/perception/map_based_prediction/src/map_based_prediction_node.cpp
@@ -818,6 +818,9 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_
     this->create_publisher<visualization_msgs::msg::MarkerArray>("maneuver", rclcpp::QoS{1});
   pub_calculation_time_ = create_publisher<StringStamped>("~/debug/calculation_time", 1);
 
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
+
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&MapBasedPredictionNode::onParam, this, std::placeholders::_1));
 }
@@ -1115,6 +1118,11 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt
 
   // Publish Results
   pub_objects_->publish(output);
+
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(pub_objects_, output.header.stamp);
+  }
+
   pub_debug_markers_->publish(debug_markers);
   const auto calculation_time_msg = createStringStamped(now(), stop_watch_.toc());
   pub_calculation_time_->publish(calculation_time_msg);
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
index 95d33b78ff184..09499ac49467d 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
+++ b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
@@ -24,6 +24,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 #include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
@@ -107,6 +108,8 @@ class MultiObjectTracker : public rclcpp::Node
 
   std::map<std::uint8_t, std::string> tracker_map_;
 
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+
   void onMeasurement(
     const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg);
   void onTimer();
diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
index 1d4d50c7eab4c..d3e566a2339c3 100644
--- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
+++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -236,6 +236,9 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
   data_association_ = std::make_unique<DataAssociation>(
     can_assign_matrix, max_dist_matrix, max_area_matrix, min_area_matrix, max_rad_matrix,
     min_iou_matrix);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void MultiObjectTracker::onMeasurement(
@@ -469,6 +472,10 @@ void MultiObjectTracker::publish(const rclcpp::Time & time)
   // Publish
   tracked_objects_pub_->publish(output_msg);
 
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(tracked_objects_pub_, output_msg.header.stamp);
+  }
+
   // Debugger Publish if enabled
   debugger_->publishProcessingTime();
   debugger_->publishTentativeObjects(tentative_objects_msg);
diff --git a/perception/object_merger/include/object_merger/node.hpp b/perception/object_merger/include/object_merger/node.hpp
index 8341ce490ca72..c884a4730e330 100644
--- a/perception/object_merger/include/object_merger/node.hpp
+++ b/perception/object_merger/include/object_merger/node.hpp
@@ -18,6 +18,7 @@
 #include "object_merger/data_association/data_association.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 
@@ -81,6 +82,8 @@ class ObjectAssociationMergerNode : public rclcpp::Node
     std::map<int, double> generalized_iou_threshold;
     std::map<int /*class label*/, double /*distance_threshold*/> distance_threshold_map;
   } overlapped_judge_param_;
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace object_association
 
diff --git a/perception/object_merger/src/object_association_merger/node.cpp b/perception/object_merger/src/object_association_merger/node.cpp
index 1ffc2791e8f4e..c23234665bc5a 100644
--- a/perception/object_merger/src/object_association_merger/node.cpp
+++ b/perception/object_merger/src/object_association_merger/node.cpp
@@ -118,6 +118,9 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
 
   merged_object_pub_ = create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
     "output/object", rclcpp::QoS{1});
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void ObjectAssociationMergerNode::objectsCallback(
@@ -215,6 +218,11 @@ void ObjectAssociationMergerNode::objectsCallback(
 
   // publish output msg
   merged_object_pub_->publish(output_msg);
+
+  // Publish published time if enabled by parameter
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(merged_object_pub_, output_msg.header.stamp);
+  }
 }
 }  // namespace object_association
 
diff --git a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp b/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
index 953307e9d5380..1d7d01bfbab55 100644
--- a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
+++ b/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
@@ -19,6 +19,7 @@
 
 #include <pcl/common/impl/common.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
@@ -120,6 +121,7 @@ class OccupancyGridMapOutlierFilterComponent : public rclcpp::Node
   std::shared_ptr<Debugger> debugger_ptr_;
   std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
   std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 
   // ROS Parameters
   std::string map_frame_;
diff --git a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
index 691c13a6d4701..b4c08ac44e204 100644
--- a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
+++ b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
@@ -234,6 +234,8 @@ OccupancyGridMapOutlierFilterComponent::OccupancyGridMapOutlierFilterComponent(
   if (enable_debugger) {
     debugger_ptr_ = std::make_shared<Debugger>(*this);
   }
+  /* published time publisher enabled only if the use_published_time is true */
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void OccupancyGridMapOutlierFilterComponent::splitPointCloudFrontBack(
@@ -305,6 +307,10 @@ void OccupancyGridMapOutlierFilterComponent::onOccupancyGridMapAndPointCloud2(
       return;
     }
     pointcloud_pub_->publish(std::move(base_link_frame_filtered_pc_ptr));
+
+    if (published_time_publisher_) {
+      published_time_publisher_->publish(pointcloud_pub_, ogm_frame_filtered_pc.header.stamp);
+    }
   }
   if (debugger_ptr_) {
     debugger_ptr_->publishHighConfidence(high_confidence_pc, ogm_frame_pc.header);
diff --git a/perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp b/perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp
index 0509fb2a07dc5..aab9e51886350 100644
--- a/perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp
+++ b/perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp
@@ -20,6 +20,7 @@
 #include "tracking_object_merger/utils/utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
 #include <std_msgs/msg/header.hpp>
@@ -106,6 +107,8 @@ class DecorativeTrackerMergerNode : public rclcpp::Node
   // tracker default settings
   TrackerStateParameter tracker_state_parameter_;
 
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+
   // merge policy (currently not used)
   struct
   {
diff --git a/perception/tracking_object_merger/src/decorative_tracker_merger.cpp b/perception/tracking_object_merger/src/decorative_tracker_merger.cpp
index b22b8d5fa2948..ba0e75e218535 100644
--- a/perception/tracking_object_merger/src/decorative_tracker_merger.cpp
+++ b/perception/tracking_object_merger/src/decorative_tracker_merger.cpp
@@ -151,6 +151,9 @@ DecorativeTrackerMergerNode::DecorativeTrackerMergerNode(const rclcpp::NodeOptio
   set3dDataAssociation("lidar-radar", data_association_map_);
   // radar-radar association matrix
   set3dDataAssociation("radar-radar", data_association_map_);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void DecorativeTrackerMergerNode::set3dDataAssociation(
@@ -212,8 +215,13 @@ void DecorativeTrackerMergerNode::mainObjectsCallback(
 
   // try to merge main object
   this->decorativeMerger(main_sensor_type_, main_objects);
+  const auto & tracked_objects = getTrackedObjects(main_objects->header);
+  merged_object_pub_->publish(tracked_objects);
 
-  merged_object_pub_->publish(getTrackedObjects(main_objects->header));
+  // Published Time Publisher enabled only if the use_published_time is true
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(merged_object_pub_, tracked_objects.header.stamp);
+  }
 }
 
 /**
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
index 5d40f2a8614ed..99e312f98f100 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
@@ -21,6 +21,8 @@
 #include "behavior_path_planner_common/interface/steering_factor_interface.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
@@ -215,6 +217,8 @@ class BehaviorPathPlannerNode : public rclcpp::Node
     const std::shared_ptr<PlannerData> & planner_data);
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace behavior_path_planner
 
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index d2f58e7d7e017..9ef26b03ed991 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -172,6 +172,9 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
   }
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 std::vector<std::string> BehaviorPathPlannerNode::getWaitingApprovalModules()
@@ -413,6 +416,11 @@ void BehaviorPathPlannerNode::run()
 
     if (!path->points.empty()) {
       path_publisher_->publish(*path);
+
+      if (published_time_publisher_) {
+        published_time_publisher_->publish(path_publisher_, path->header.stamp);
+      }
+
     } else {
       RCLCPP_ERROR_THROTTLE(
         get_logger(), *get_clock(), 5000, "behavior path output is empty! Stop publish.");
diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
index 854f3c8852c29..19879899c5bd9 100644
--- a/planning/behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/src/node.cpp
@@ -159,6 +159,9 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
   }
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void BehaviorVelocityPlannerNode::onLoadPlugin(
@@ -399,6 +402,9 @@ void BehaviorVelocityPlannerNode::onTrigger(
   lk.unlock();
 
   path_pub_->publish(output_path_msg);
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(path_pub_, output_path_msg.header.stamp);
+  }
   stop_reason_diag_pub_->publish(planner_manager_.getStopReasonDiag());
 
   if (debug_viz_pub_->get_subscription_count() > 0) {
diff --git a/planning/behavior_velocity_planner/src/node.hpp b/planning/behavior_velocity_planner/src/node.hpp
index a345f1200f721..dd6edf6ae0bc0 100644
--- a/planning/behavior_velocity_planner/src/node.hpp
+++ b/planning/behavior_velocity_planner/src/node.hpp
@@ -22,6 +22,7 @@
 #include <behavior_velocity_planner/srv/unload_plugin.hpp>
 #include <behavior_velocity_planner_common/planner_data.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
@@ -130,6 +131,8 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
     const PlannerData & planner_data);
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace behavior_velocity_planner
 
diff --git a/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp b/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp
index fc347cb11f5cd..868c1ab12cce8 100644
--- a/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp
+++ b/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp
@@ -34,6 +34,8 @@
 #include "tier4_autoware_utils/ros/self_pose_listener.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
 
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+
 #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp"
 #include "autoware_auto_planning_msgs/msg/trajectory.hpp"
 #include "autoware_auto_planning_msgs/msg/trajectory_point.hpp"
@@ -271,6 +273,7 @@ class MotionVelocitySmootherNode : public rclcpp::Node
   void publishStopWatchTime();
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace motion_velocity_smoother
 
diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
index 5b9f84112f97a..6854609c2f409 100644
--- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
+++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
@@ -104,6 +104,9 @@ MotionVelocitySmootherNode::MotionVelocitySmootherNode(const rclcpp::NodeOptions
   clock_ = get_clock();
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void MotionVelocitySmootherNode::setupSmoother(const double wheelbase)
@@ -314,6 +317,9 @@ void MotionVelocitySmootherNode::publishTrajectory(const TrajectoryPoints & traj
   Trajectory publishing_trajectory = motion_utils::convertToTrajectory(trajectory);
   publishing_trajectory.header = base_traj_raw_ptr_->header;
   pub_trajectory_->publish(publishing_trajectory);
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(pub_trajectory_, publishing_trajectory.header.stamp);
+  }
 }
 
 void MotionVelocitySmootherNode::onCurrentOdometry(const Odometry::ConstSharedPtr msg)
diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp
index 9ca2f31b6ec5a..2dbefffe67738 100644
--- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp
+++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp
@@ -24,6 +24,8 @@
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "vehicle_info_util/vehicle_info_util.hpp"
 
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+
 #include <algorithm>
 #include <memory>
 #include <optional>
@@ -136,6 +138,8 @@ class ObstacleAvoidancePlanner : public rclcpp::Node
   double vehicle_stop_margin_outside_drivable_area_;
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace obstacle_avoidance_planner
 
diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
index 1dcabf202970c..27ddf7aef277a 100644
--- a/planning/obstacle_avoidance_planner/src/node.cpp
+++ b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -153,6 +153,9 @@ ObstacleAvoidancePlanner::ObstacleAvoidancePlanner(const rclcpp::NodeOptions & n
     std::bind(&ObstacleAvoidancePlanner::onParam, this, std::placeholders::_1));
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 rcl_interfaces::msg::SetParametersResult ObstacleAvoidancePlanner::onParam(
@@ -239,6 +242,10 @@ void ObstacleAvoidancePlanner::onPath(const Path::ConstSharedPtr path_ptr)
     const auto traj_points = trajectory_utils::convertToTrajectoryPoints(path_ptr->points);
     const auto output_traj_msg = motion_utils::convertToTrajectory(traj_points, path_ptr->header);
     traj_pub_->publish(output_traj_msg);
+
+    if (published_time_publisher_) {
+      published_time_publisher_->publish(traj_pub_, output_traj_msg.header.stamp);
+    }
     return;
   }
 
@@ -271,6 +278,10 @@ void ObstacleAvoidancePlanner::onPath(const Path::ConstSharedPtr path_ptr)
   const auto output_traj_msg =
     motion_utils::convertToTrajectory(full_traj_points, path_ptr->header);
   traj_pub_->publish(output_traj_msg);
+
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(traj_pub_, output_traj_msg.header.stamp);
+  }
 }
 
 bool ObstacleAvoidancePlanner::isDataReady(const Path & path, rclcpp::Clock clock) const
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp
index a8328d536f13c..d1a9d0ff56b52 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp
+++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp
@@ -24,6 +24,7 @@
 #include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <algorithm>
 #include <memory>
@@ -269,6 +270,8 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
   std::shared_ptr<StopObstacle> prev_closest_stop_obstacle_ptr_{nullptr};
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace motion_planning
 
diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp
index e4e6cdf9e0873..00ffb813fdd81 100644
--- a/planning/obstacle_cruise_planner/src/node.cpp
+++ b/planning/obstacle_cruise_planner/src/node.cpp
@@ -442,6 +442,9 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions &
     std::bind(&ObstacleCruisePlannerNode::onParam, this, std::placeholders::_1));
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 ObstacleCruisePlannerNode::PlanningAlgorithm ObstacleCruisePlannerNode::getPlanningAlgorithmType(
@@ -538,6 +541,9 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms
   trajectory_pub_->publish(output_traj);
 
   // 8. Publish debug data
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(trajectory_pub_, output_traj.header.stamp);
+  }
   publishDebugMarker();
   publishDebugInfo();
 
diff --git a/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp b/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp
index 4e356eab6f736..d894544a67fe1 100644
--- a/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp
+++ b/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp
@@ -26,6 +26,7 @@
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
@@ -315,6 +316,8 @@ class ObstacleStopPlannerNode : public rclcpp::Node
   }
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace motion_planning
 
diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp
index 1b34e85b87a50..09b6b4099bd63 100644
--- a/planning/obstacle_stop_planner/src/node.cpp
+++ b/planning/obstacle_stop_planner/src/node.cpp
@@ -246,6 +246,9 @@ ObstacleStopPlannerNode::ObstacleStopPlannerNode(const rclcpp::NodeOptions & nod
     createSubscriptionOptions(this));
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void ObstacleStopPlannerNode::onPointCloud(const PointCloud2::ConstSharedPtr input_msg)
@@ -330,6 +333,10 @@ void ObstacleStopPlannerNode::onTrigger(const Trajectory::ConstSharedPtr input_m
     RCLCPP_WARN_THROTTLE(
       get_logger(), *get_clock(), 3000, "Backward path is NOT supported. publish input as it is.");
     pub_trajectory_->publish(*input_msg);
+
+    if (published_time_publisher_) {
+      published_time_publisher_->publish(pub_trajectory_, input_msg->header.stamp);
+    }
     return;
   }
 
@@ -381,6 +388,10 @@ void ObstacleStopPlannerNode::onTrigger(const Trajectory::ConstSharedPtr input_m
   trajectory.header = input_msg->header;
   pub_trajectory_->publish(trajectory);
 
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(pub_trajectory_, trajectory.header.stamp);
+  }
+
   Float64Stamped processing_time_ms;
   processing_time_ms.stamp = now();
   processing_time_ms.data = stop_watch_.toc(__func__);
diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp
index cbdd390183d61..63eec0f2cf378 100644
--- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp
+++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp
@@ -21,6 +21,7 @@
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 #include <tier4_autoware_utils/ros/self_pose_listener.hpp>
 #include <tier4_autoware_utils/ros/transform_listener.hpp>
 
@@ -104,6 +105,8 @@ class ObstacleVelocityLimiterNode : public rclcpp::Node
   bool validInputs();
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace obstacle_velocity_limiter
 
diff --git a/planning/obstacle_velocity_limiter/src/obstacle_velocity_limiter_node.cpp b/planning/obstacle_velocity_limiter/src/obstacle_velocity_limiter_node.cpp
index 086d76e9ef0fe..e9340bd2644d4 100644
--- a/planning/obstacle_velocity_limiter/src/obstacle_velocity_limiter_node.cpp
+++ b/planning/obstacle_velocity_limiter/src/obstacle_velocity_limiter_node.cpp
@@ -82,6 +82,9 @@ ObstacleVelocityLimiterNode::ObstacleVelocityLimiterNode(const rclcpp::NodeOptio
     add_on_set_parameters_callback([this](const auto & params) { return onParameter(params); });
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 rcl_interfaces::msg::SetParametersResult ObstacleVelocityLimiterNode::onParameter(
@@ -162,6 +165,8 @@ rcl_interfaces::msg::SetParametersResult ObstacleVelocityLimiterNode::onParamete
       projection_params_.steering_angle_offset = parameter.as_double();
     } else if (parameter.get_name() == ProjectionParameters::DISTANCE_METHOD_PARAM) {
       projection_params_.updateDistanceMethod(*this, parameter.as_string());
+    } else if (parameter.get_name() == "use_published_time") {
+      void();
     } else {
       RCLCPP_WARN(get_logger(), "Unknown parameter %s", parameter.get_name().c_str());
       result.successful = false;
@@ -222,6 +227,10 @@ void ObstacleVelocityLimiterNode::onTrajectory(const Trajectory::ConstSharedPtr
 
   pub_trajectory_->publish(safe_trajectory);
 
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(pub_trajectory_, safe_trajectory.header.stamp);
+  }
+
   const auto t_end = std::chrono::system_clock::now();
   const auto runtime = std::chrono::duration_cast<std::chrono::microseconds>(t_end - t_start);
   pub_runtime_->publish(tier4_debug_msgs::msg::Float64Stamped().set__stamp(now()).set__data(
diff --git a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp
index 364e1e3cc43d8..eb2d651cc967d 100644
--- a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp
+++ b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp
@@ -23,6 +23,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+
 #include <algorithm>
 #include <memory>
 #include <optional>
@@ -112,6 +114,8 @@ class ElasticBandSmoother : public rclcpp::Node
     const std::vector<TrajectoryPoint> & optimized_points) const;
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace path_smoother
 
diff --git a/planning/path_smoother/src/elastic_band_smoother.cpp b/planning/path_smoother/src/elastic_band_smoother.cpp
index a81a92f3fcc96..f0ff9d6c3eb85 100644
--- a/planning/path_smoother/src/elastic_band_smoother.cpp
+++ b/planning/path_smoother/src/elastic_band_smoother.cpp
@@ -108,6 +108,9 @@ ElasticBandSmoother::ElasticBandSmoother(const rclcpp::NodeOptions & node_option
     std::bind(&ElasticBandSmoother::onParam, this, std::placeholders::_1));
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 rcl_interfaces::msg::SetParametersResult ElasticBandSmoother::onParam(
@@ -171,6 +174,9 @@ void ElasticBandSmoother::onPath(const Path::ConstSharedPtr path_ptr)
     const auto output_traj_msg = motion_utils::convertToTrajectory(traj_points, path_ptr->header);
     traj_pub_->publish(output_traj_msg);
     path_pub_->publish(*path_ptr);
+    if (published_time_publisher_) {
+      published_time_publisher_->publish(path_pub_, path_ptr->header.stamp);
+    }
     return;
   }
 
@@ -225,6 +231,9 @@ void ElasticBandSmoother::onPath(const Path::ConstSharedPtr path_ptr)
   traj_pub_->publish(output_traj_msg);
   const auto output_path_msg = trajectory_utils::create_path(*path_ptr, full_traj_points);
   path_pub_->publish(output_path_msg);
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(path_pub_, path_ptr->header.stamp);
+  }
 }
 
 bool ElasticBandSmoother::isDataReady(const Path & path, rclcpp::Clock clock) const
diff --git a/planning/planning_validator/include/planning_validator/planning_validator.hpp b/planning/planning_validator/include/planning_validator/planning_validator.hpp
index 4e27def784b12..36954c267b2a9 100644
--- a/planning/planning_validator/include/planning_validator/planning_validator.hpp
+++ b/planning/planning_validator/include/planning_validator/planning_validator.hpp
@@ -23,6 +23,7 @@
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_planning_msgs/msg/trajectory.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
@@ -136,6 +137,8 @@ class PlanningValidator : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
 
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+
   StopWatch<std::chrono::milliseconds> stop_watch_;
 };
 }  // namespace planning_validator
diff --git a/planning/planning_validator/src/planning_validator.cpp b/planning/planning_validator/src/planning_validator.cpp
index 8b8b7d4566f08..4db45592d3849 100644
--- a/planning/planning_validator/src/planning_validator.cpp
+++ b/planning/planning_validator/src/planning_validator.cpp
@@ -48,6 +48,9 @@ PlanningValidator::PlanningValidator(const rclcpp::NodeOptions & options)
   setupParameters();
 
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  // Published time publisher only enabled if "use_published_time" parameter is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 void PlanningValidator::setupParameters()
@@ -219,6 +222,12 @@ void PlanningValidator::publishTrajectory()
   // Validation check is all green. Publish the trajectory.
   if (isAllValid(validation_status_)) {
     pub_traj_->publish(*current_trajectory_);
+
+    // Publish published time if enabled by parameter
+    if (published_time_publisher_) {
+      published_time_publisher_->publish(pub_traj_, current_trajectory_->header.stamp);
+    }
+
     previous_published_trajectory_ = current_trajectory_;
     return;
   }
@@ -227,6 +236,11 @@ void PlanningValidator::publishTrajectory()
 
   if (invalid_trajectory_handling_type_ == InvalidTrajectoryHandlingType::PUBLISH_AS_IT_IS) {
     pub_traj_->publish(*current_trajectory_);
+
+    if (published_time_publisher_) {
+      published_time_publisher_->publish(pub_traj_, current_trajectory_->header.stamp);
+    }
+
     RCLCPP_ERROR(get_logger(), "Caution! Invalid Trajectory published.");
     return;
   }
@@ -239,6 +253,11 @@ void PlanningValidator::publishTrajectory()
   if (invalid_trajectory_handling_type_ == InvalidTrajectoryHandlingType::USE_PREVIOUS_RESULT) {
     if (previous_published_trajectory_) {
       pub_traj_->publish(*previous_published_trajectory_);
+
+      if (published_time_publisher_) {
+        published_time_publisher_->publish(pub_traj_, previous_published_trajectory_->header.stamp);
+      }
+
       RCLCPP_ERROR(get_logger(), "Invalid Trajectory detected. Use previous trajectory.");
       return;
     }
diff --git a/planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp b/planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp
index 94969570d6b53..3651f6c76b8bc 100644
--- a/planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp
+++ b/planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp
@@ -16,6 +16,7 @@
 #define SCENARIO_SELECTOR__SCENARIO_SELECTOR_NODE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_planning_msgs/msg/trajectory.hpp>
@@ -91,6 +92,7 @@ class ScenarioSelectorNode : public rclcpp::Node
   std::shared_ptr<lanelet::routing::RoutingGraph> routing_graph_ptr_;
   std::shared_ptr<lanelet::traffic_rules::TrafficRules> traffic_rules_ptr_;
   std::shared_ptr<route_handler::RouteHandler> route_handler_;
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 
   // Parameters
   double update_rate_;
diff --git a/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp b/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
index 734ff11aaf4a1..fa071ae054222 100644
--- a/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
+++ b/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
@@ -320,6 +320,11 @@ void ScenarioSelectorNode::publishTrajectory(
   const auto delay_sec = (now - msg->header.stamp).seconds();
   if (delay_sec <= th_max_message_delay_sec_) {
     pub_trajectory_->publish(*msg);
+
+    if (published_time_publisher_) {
+      published_time_publisher_->publish(pub_trajectory_, msg->header.stamp);
+    }
+
   } else {
     RCLCPP_WARN_THROTTLE(
       this->get_logger(), *this->get_clock(), std::chrono::milliseconds(1000).count(),
@@ -372,6 +377,9 @@ ScenarioSelectorNode::ScenarioSelectorNode(const rclcpp::NodeOptions & node_opti
 
   timer_ = rclcpp::create_timer(
     this, get_clock(), period_ns, std::bind(&ScenarioSelectorNode::onTimer, this));
+
+  // Published time publisher only enabled if "use_published_time" parameter is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
 }
 
 #include <rclcpp_components/register_node_macro.hpp>
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
index 47c0f2b403faa..1f23c975a88af 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
@@ -81,6 +81,7 @@
 
 // Include tier4 autoware utils
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 #include <tier4_autoware_utils/system/stop_watch.hpp>
 
 namespace pointcloud_preprocessor
@@ -178,6 +179,7 @@ class Filter : public rclcpp::Node
   /** \brief processing time publisher. **/
   std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
   std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 
   /** \brief Virtual abstract filter method. To be implemented by every child.
    * \param input the input point cloud dataset.
diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp
index d5843be395adf..61b160317ee96 100644
--- a/sensing/pointcloud_preprocessor/src/filter.cpp
+++ b/sensing/pointcloud_preprocessor/src/filter.cpp
@@ -102,6 +102,9 @@ pointcloud_preprocessor::Filter::Filter(
   set_param_res_filter_ = this->add_on_set_parameters_callback(
     std::bind(&Filter::filterParamCallback, this, std::placeholders::_1));
 
+  // Published Time Publisher enabled only if the use_published_time is true
+  published_time_publisher_ = tier4_autoware_utils::PublishedTimePublisher::create(this);
+
   RCLCPP_DEBUG(this->get_logger(), "[Filter Constructor] successfully created.");
 }
 
@@ -192,6 +195,11 @@ void pointcloud_preprocessor::Filter::computePublish(
 
   // Publish a boost shared ptr
   pub_output_->publish(std::move(output));
+
+  // Publish published time only if enabled by parameter
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(pub_output_, input->header.stamp);
+  }
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -456,6 +464,11 @@ void pointcloud_preprocessor::Filter::faster_input_indices_callback(
 
   output->header.stamp = cloud->header.stamp;
   pub_output_->publish(std::move(output));
+
+  // Publish published time if enabled by parameter
+  if (published_time_publisher_) {
+    published_time_publisher_->publish(pub_output_, cloud->header.stamp);
+  }
 }
 
 // TODO(sykwer): Temporary Implementation: Remove this interface when all the filter nodes conform