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 90f7295c4cf6f..ca724301fe118 100644
--- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
+++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
@@ -312,7 +312,8 @@ void MotionVelocitySmootherNode::initCommonParam()
 void MotionVelocitySmootherNode::publishTrajectory(const TrajectoryPoints & trajectory) const
 {
   Trajectory publishing_trajectory = motion_utils::convertToTrajectory(trajectory);
-  publishing_trajectory.header = base_traj_raw_ptr_->header;
+  publishing_trajectory.header.frame_id = base_traj_raw_ptr_->header.frame_id;
+  publishing_trajectory.header.stamp = this->now();
   pub_trajectory_->publish(publishing_trajectory);
 }