diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
index e123b0dda6..5d68825f4d 100644
--- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -50,3 +50,8 @@
       consider_only_routable_neighbours: false
 
     reference_path_resolution: 0.5 #[m]
+
+    # debug parameters
+    publish_processing_time: true
+    publish_processing_time_detail: true
+    publish_debug_markers: true