diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
index da97f918..61aa5ab5 100644
--- a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
+++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
@@ -142,7 +142,7 @@ def load_rosbag(self, rosbag2_path: str):
                     for field in msg.__slots__:
                         setattr(
                             new_msg, field, getattr(msg, field)
-                        )  # it's unsafe because the elements inside the message are still the old type, but it works for now on.
+                        )  # it's unsafe because the elements inside the message are still the old type, but it works for now on because they share the same elements' names and structures.
                     msg = new_msg
                 self.rosbag_objects_data.append((stamp, msg))
             if topic == ego_odom_topic:
diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
index b2872691..9f733ee2 100755
--- a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
+++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
@@ -18,6 +18,7 @@
 from collections import deque
 import pickle
 
+from geometry_msgs.msg import PoseWithCovarianceStamped
 import numpy as np
 from perception_replayer_common import PerceptionReplayerCommon
 import rclpy
@@ -25,7 +26,7 @@
 from utils import create_empty_pointcloud
 from utils import translate_objects_coordinate
 
-dist_eps = 1e-2  # (meters)
+dist_eps = 1e-3  # (meters)
 
 
 class PerceptionReproducer(PerceptionReplayerCommon):
@@ -54,6 +55,11 @@ def __init__(self, args):
 
         self.stopwatch = StopWatch(self.args.verbose)  # for debug
 
+        # refresh cool down for setting initial pose in psim.
+        self.sub_init_pos = self.create_subscription(
+            PoseWithCovarianceStamped, "/initialpose", lambda msg: self.cool_down_indices.clear(), 1
+        )
+
         # to make some data to accelerate computation
         self.preprocess_data()
 
@@ -66,6 +72,8 @@ def __init__(self, args):
             prev_stamp = stamp
 
         average_ego_odom_interval = sum(time_diffs) / len(time_diffs)
+        # slow down the publication speed.
+        average_ego_odom_interval *= args.publishing_speed_factor
         self.timer = self.create_timer(average_ego_odom_interval, self.on_timer)
 
         # kill perception process to avoid a conflict of the perception topics
@@ -269,6 +277,13 @@ def find_nearby_ego_odom_indies(self, ego_poses: list, search_radius: float):
         type=float,
         default=80.0,
     )
+    parser.add_argument(
+        "--publishing-speed-factor",
+        type=float,
+        default=1.2,
+        help="A factor to slow down the publication speed.",
+    )
+
     args = parser.parse_args()
 
     rclpy.init()