diff --git a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
index 4c1ccced1bcf7..d6b79e13f1d3d 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
+++ b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
@@ -78,7 +78,6 @@ class MultiObjectTracker : public rclcpp::Node
   // publish timer
   rclcpp::TimerBase::SharedPtr publish_timer_;
   rclcpp::Time last_published_time_;
-  double publisher_period_;
 
   // internal states
   std::string world_frame_id_;  // tracking frame
diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
index c7df6d9eacab8..94062bcf9cc81 100644
--- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
+++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -153,9 +153,7 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
   // If the delay compensation is enabled, the timer is used to publish the output at the correct
   // time.
   if (enable_delay_compensation) {
-    publisher_period_ = 1.0 / publish_rate;   // [s]
-    constexpr double timer_multiplier = 1.0;  // 2 times frequent for publish timing check
-    const auto timer_period = rclcpp::Rate(publish_rate * timer_multiplier).period();
+    const auto timer_period = rclcpp::Rate(publish_rate).period();
     publish_timer_ = rclcpp::create_timer(
       this, get_clock(), timer_period, std::bind(&MultiObjectTracker::onTimer, this));
   }