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 57ab269c48..ae1e9d31e6 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
@@ -12,7 +12,7 @@
     # default tracker node parameters
     publish_rate: 10.0
     world_frame_id: map
-    enable_delay_compensation: false
+    enable_delay_compensation: true
     pass_through_unknown_objects: false
     publish_untracked_objects: false
     debug_flag: false