diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp
new file mode 100644
index 0000000000000..7daaa21d2482f
--- /dev/null
+++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp
@@ -0,0 +1,54 @@
+// Copyright 2020 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
+#define TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_common_msgs/msg/published_time.hpp>
+
+namespace tier4_autoware_utils
+{
+using autoware_common_msgs::msg::PublishedTime;
+
+class PublishedTimePublisher
+{
+public:
+  explicit PublishedTimePublisher(
+    rclcpp::Node * node, const std::string & name = "~/debug/published_time",
+    const rclcpp::QoS & qos = rclcpp::QoS(1))
+  {
+    pub_published_time_ = node->create_publisher<PublishedTime>(name, qos);
+  }
+
+  void publish(const rclcpp::Time & header_stamp) const
+  {
+    // Check if there are any subscribers, otherwise don't do anything
+    if (pub_published_time_->get_subscription_count() > 0) {
+      PublishedTime published_time;
+
+      published_time.header_stamp = header_stamp;
+      published_time.published_stamp = rclcpp::Clock().now();
+
+      pub_published_time_->publish(published_time);
+    }
+  }
+
+private:
+  rclcpp::Publisher<PublishedTime>::SharedPtr pub_published_time_;
+};
+}  // namespace tier4_autoware_utils
+
+#endif  // TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml
index 04a07b88edf4e..c6d150e887a69 100644
--- a/common/tier4_autoware_utils/package.xml
+++ b/common/tier4_autoware_utils/package.xml
@@ -15,6 +15,7 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_common_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>