diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
index ae1e9d31e6..f58de8e615 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -15,4 +15,9 @@
     enable_delay_compensation: true
     pass_through_unknown_objects: false
     publish_untracked_objects: false
-    debug_flag: false
+
+    # debug parameters
+    publish_processing_time: false
+    publish_tentative_objects: false
+    diagnostic_warn_delay: 0.5      # [sec]
+    diagnostic_error_delay: 1.0     # [sec]