diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp
index 39683755bcaf0..d370a60a26aa5 100644
--- a/perception/lidar_centerpoint/src/node.cpp
+++ b/perception/lidar_centerpoint/src/node.cpp
@@ -169,10 +169,17 @@ void LidarCenterPointNode::pointCloudCallback(
   if (debug_publisher_ptr_ && stop_watch_ptr_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
+    const double pipeline_latency_ms =
+      std::chrono::duration<double, std::milli>(
+        std::chrono::nanoseconds(
+          (this->get_clock()->now() - output_msg.header.stamp).nanoseconds()))
+        .count();
     debug_publisher_ptr_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
     debug_publisher_ptr_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
+    debug_publisher_ptr_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+      "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 }