diff --git a/perception/multi_object_tracker/src/debugger/debugger.cpp b/perception/multi_object_tracker/src/debugger/debugger.cpp
index 2baa970850a18..afb0ecdc22996 100644
--- a/perception/multi_object_tracker/src/debugger/debugger.cpp
+++ b/perception/multi_object_tracker/src/debugger/debugger.cpp
@@ -30,12 +30,12 @@ TrackerDebugger::TrackerDebugger(rclcpp::Node & node, const std::string & frame_
   if (debug_settings_.publish_tentative_objects) {
     debug_tentative_objects_pub_ =
       node_.create_publisher<autoware_auto_perception_msgs::msg::TrackedObjects>(
-        "multi_object_tracker/debug/tentative_objects", rclcpp::QoS{1});
+        "~/debug/tentative_objects", rclcpp::QoS{1});
   }
 
   if (debug_settings_.publish_debug_markers) {
     debug_objects_markers_pub_ = node_.create_publisher<visualization_msgs::msg::MarkerArray>(
-      "multi_object_tracker/debug/objects_markers", rclcpp::QoS{1});
+      "~/debug/objects_markers", rclcpp::QoS{1});
   }
 
   // initialize timestamps