diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index 6025125db1..18229c7a4e 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -456,6 +456,7 @@ class Publisher : public PublisherBase
   do_loaned_message_publish(
     std::unique_ptr<ROSMessageType, std::function<void(ROSMessageType *)>> msg)
   {
+    TRACETOOLS_TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(msg.get()));
     auto status = rcl_publish_loaned_message(publisher_handle_.get(), msg.get(), nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {