diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
index 4e1fee3f0..634f17241 100644
--- a/rcl/src/rcl/publisher.c
+++ b/rcl/src/rcl/publisher.c
@@ -319,6 +319,7 @@ rcl_publish_loaned_message(
     return RCL_RET_PUBLISHER_INVALID;  // error already set
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(ros_message, RCL_RET_INVALID_ARGUMENT);
+  TRACETOOLS_TRACEPOINT(rcl_publish, (const void *)publisher, (const void *)ros_message);
   rmw_ret_t ret = rmw_publish_loaned_message(publisher->impl->rmw_handle, ros_message, allocation);
   if (ret != RMW_RET_OK) {
     RCL_SET_ERROR_MSG(rmw_get_error_string().str);