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 4331b5c19d3f1..e3c3263466033 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
@@ -19,6 +19,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/ros/debug_publisher.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
@@ -27,6 +28,7 @@
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
+#include <memory>
 #include <string>
 
 namespace object_lanelet_filter
@@ -48,6 +50,7 @@ class ObjectLaneletFilterNode : public rclcpp::Node
   rclcpp::Publisher<autoware_auto_perception_msgs::msg::DetectedObjects>::SharedPtr object_pub_;
   rclcpp::Subscription<autoware_auto_mapping_msgs::msg::HADMapBin>::SharedPtr map_sub_;
   rclcpp::Subscription<autoware_auto_perception_msgs::msg::DetectedObjects>::SharedPtr object_sub_;
+  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_{nullptr};
 
   lanelet::LaneletMapPtr lanelet_map_ptr_;
   lanelet::ConstLanelets road_lanelets_;
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 2d70247445043..eb6da6bc45b24 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
@@ -20,6 +20,7 @@
 #include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/debug_publisher.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -133,6 +134,7 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
   rclcpp::Publisher<autoware_auto_perception_msgs::msg::DetectedObjects>::SharedPtr objects_pub_;
   message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> objects_sub_;
   message_filters::Subscriber<sensor_msgs::msg::PointCloud2> obstacle_pointcloud_sub_;
+  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_{nullptr};
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
 
diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/object_lanelet_filter.cpp
index cd16d414425cb..74000a91e60fc 100644
--- a/perception/detected_object_validation/src/object_lanelet_filter.cpp
+++ b/perception/detected_object_validation/src/object_lanelet_filter.cpp
@@ -52,6 +52,9 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod
     "input/object", rclcpp::QoS{1}, std::bind(&ObjectLaneletFilterNode::objectCallback, this, _1));
   object_pub_ = this->create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
     "output/object", rclcpp::QoS{1});
+
+  debug_publisher_ =
+    std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "object_lanelet_filter");
 }
 
 void ObjectLaneletFilterNode::mapCallback(
@@ -116,6 +119,15 @@ void ObjectLaneletFilterNode::objectCallback(
     ++index;
   }
   object_pub_->publish(output_object_msg);
+
+  // Publish debug info
+  const double pipeline_latency =
+    std::chrono::duration<double, std::milli>(
+      std::chrono::nanoseconds(
+        (this->get_clock()->now() - output_object_msg.header.stamp).nanoseconds()))
+      .count();
+  debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    "debug/pipeline_latency_ms", pipeline_latency);
 }
 
 geometry_msgs::msg::Polygon ObjectLaneletFilterNode::setFootprint(
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 d903a9ca3bb41..f3f56652792e9 100644
--- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
+++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -304,6 +304,8 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator(
 
   objects_pub_ = create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
     "~/output/objects", rclcpp::QoS{1});
+  debug_publisher_ = std::make_unique<tier4_autoware_utils::DebugPublisher>(
+    this, "obstacle_pointcloud_based_validator");
 
   const bool enable_debugger = declare_parameter<bool>("enable_debugger", false);
   if (enable_debugger) debugger_ = std::make_shared<Debugger>(this);
@@ -350,6 +352,14 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(
     debugger_->publishNeighborPointcloud(input_obstacle_pointcloud->header);
     debugger_->publishPointcloudWithinPolygon(input_obstacle_pointcloud->header);
   }
+
+  // Publish processing time info
+  const double pipeline_latency =
+    std::chrono::duration<double, std::milli>(
+      std::chrono::nanoseconds((this->get_clock()->now() - output.header.stamp).nanoseconds()))
+      .count();
+  debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    "debug/pipeline_latency_ms", pipeline_latency);
 }
 
 }  // namespace obstacle_pointcloud_based_validator
diff --git a/perception/euclidean_cluster/src/euclidean_cluster_node.cpp b/perception/euclidean_cluster/src/euclidean_cluster_node.cpp
index a890c19e25d06..746ef1bafb583 100644
--- a/perception/euclidean_cluster/src/euclidean_cluster_node.cpp
+++ b/perception/euclidean_cluster/src/euclidean_cluster_node.cpp
@@ -64,10 +64,7 @@ void EuclideanClusterNode::onPointCloud(
   cluster_pub_->publish(output);
 
   // build debug msg
-  if (debug_pub_->get_subscription_count() < 1) {
-    return;
-  }
-  {
+  if (debug_pub_->get_subscription_count() >= 1) {
     sensor_msgs::msg::PointCloud2 debug;
     convertObjectMsg2SensorMsg(output, debug);
     debug_pub_->publish(debug);
@@ -75,10 +72,16 @@ void EuclideanClusterNode::onPointCloud(
   if (debug_publisher_) {
     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.header.stamp).nanoseconds()))
+        .count();
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
+    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+      "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 }
 
diff --git a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp
index a28791e5d4057..f58d9ac6dcc48 100644
--- a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp
+++ b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp
@@ -76,10 +76,7 @@ void VoxelGridBasedEuclideanClusterNode::onPointCloud(
   cluster_pub_->publish(output);
 
   // build debug msg
-  if (debug_pub_->get_subscription_count() < 1) {
-    return;
-  }
-  {
+  if (debug_pub_->get_subscription_count() >= 1) {
     sensor_msgs::msg::PointCloud2 debug;
     convertObjectMsg2SensorMsg(output, debug);
     debug_pub_->publish(debug);
@@ -87,10 +84,16 @@ void VoxelGridBasedEuclideanClusterNode::onPointCloud(
   if (debug_publisher_) {
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
+    const double pipeline_latency_ms =
+      std::chrono::duration<double, std::milli>(
+        std::chrono::nanoseconds((this->get_clock()->now() - output.header.stamp).nanoseconds()))
+        .count();
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
+    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+      "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 }
 
diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp
index 6bced39bc61ef..d5cf84bb62973 100644
--- a/perception/image_projection_based_fusion/src/fusion_node.cpp
+++ b/perception/image_projection_based_fusion/src/fusion_node.cpp
@@ -175,11 +175,18 @@ void FusionNode<Msg, Obj, Msg2D>::subCallback(const typename Msg::ConstSharedPtr
     // add processing time for debug
     if (debug_publisher_) {
       const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
+      const double pipeline_latency_ms =
+        std::chrono::duration<double, std::milli>(
+          std::chrono::nanoseconds(
+            (this->get_clock()->now() - cached_msg_.second->header.stamp).nanoseconds()))
+          .count();
       debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
         "debug/cyclic_time_ms", cyclic_time_ms);
       debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
         "debug/processing_time_ms",
         processing_time_ms + stop_watch_ptr_->toc("processing_time", true));
+      debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+        "debug/pipeline_latency_ms", pipeline_latency_ms);
       processing_time_ms = 0;
     }
   }
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);
   }
 }
 
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
index 82da92da7f146..63b6715948f93 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
@@ -206,10 +206,17 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw(
   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() - input_raw_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);
   }
 }