diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
index bebe5f9ef..281c958b6 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
@@ -108,7 +108,9 @@ __rmw_publish_serialized_message(
   data.type = FASTRTPS_SERIALIZED_DATA_TYPE_CDR_BUFFER;
   data.data = &ser;
   data.impl = nullptr;  // not used when type is FASTRTPS_SERIALIZED_DATA_TYPE_CDR_BUFFER
-  TRACETOOLS_TRACEPOINT(rmw_publish, serialized_message);
+  eprosima::fastrtps::Time_t stamp;
+  eprosima::fastrtps::Time_t::now(stamp);
+  TRACETOOLS_TRACEPOINT(rmw_publish, publisher, serialized_message, stamp.to_ns());
   if (!info->data_writer_->write(&data)) {
     RMW_SET_ERROR_MSG("cannot publish data");
     return RMW_RET_ERROR;