diff --git a/perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index aac0e32289..65ac62ef3b 100644
--- a/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -1,8 +1,13 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="publish_rate" default="10.0"/>
+  <arg name="enable_delay_compensation" default="true"/>
+
   <group>
     <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
       <arg name="data_association_matrix_path" value="$(find-pkg-share perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"/>
+      <arg name="publish_rate" value="$(var publish_rate)"/>
+      <arg name="enable_delay_compensation" value="$(var enable_delay_compensation)"/>
     </include>
   </group>
 </launch>