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 84d64487b55ab..e7ad2c04731df 100644
--- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
+++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -247,7 +247,7 @@ void MultiObjectTracker::onTimer()
   // check the publish period
   const auto elapsed_time = (current_time - last_published_time_).seconds();
   // if the elapsed time is over the period, publish objects with prediction
-  constexpr double maximum_latency_ratio = 1.11;  // 11% margin
+  constexpr double maximum_latency_ratio = 1.4;  // 40% margin
   const double maximum_publish_latency = publisher_period_ * maximum_latency_ratio;
   if (elapsed_time > maximum_publish_latency) {
     checkAndPublish(current_time);