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 1868004e08c6c..9d6aaaf2b9647 100644
--- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
+++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -200,7 +200,7 @@ void MultiObjectTracker::onMeasurement(
     publish(measurement_time);
   } else {
     // Publish if the next publish time is close
-    const double minimum_publish_interval = publisher_period_ * 0.7;  // 70% of the period
+    const double minimum_publish_interval = publisher_period_ * 0.4;  // 40% of the period
     if ((this->now() - last_published_time_).seconds() > minimum_publish_interval) {
       checkAndPublish(this->now());
     }