diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
index d20754dc9..a7c4103ce 100644
--- a/rcl/src/rcl/publisher.c
+++ b/rcl/src/rcl/publisher.c
@@ -243,6 +243,7 @@ rcl_publish(
     return RCL_RET_PUBLISHER_INVALID;  // error already set
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(ros_message, RCL_RET_INVALID_ARGUMENT);
+  TRACEPOINT(rcl_publish, (const void *)publisher, (const void *)ros_message);
   if (rmw_publish(publisher->impl->rmw_handle, ros_message, allocation) != RMW_RET_OK) {
     RCL_SET_ERROR_MSG(rmw_get_error_string().str);
     return RCL_RET_ERROR;