diff --git a/planning/planning_validator/src/planning_validator.cpp b/planning/planning_validator/src/planning_validator.cpp
index 58af2c08ccb22..cfc41d97f2687 100644
--- a/planning/planning_validator/src/planning_validator.cpp
+++ b/planning/planning_validator/src/planning_validator.cpp
@@ -193,8 +193,10 @@ void PlanningValidator::publishTrajectory()
 {
   // Validation check is all green. Publish the trajectory.
   if (isAllValid(validation_status_)) {
-    pub_traj_->publish(*current_trajectory_);
-    previous_published_trajectory_ = current_trajectory_;
+    auto msg_sent = *current_trajectory_;
+    msg_sent.header.stamp = this->now();
+    pub_traj_->publish(msg_sent);
+    previous_published_trajectory_ = std::make_shared<Trajectory>(msg_sent);
     return;
   }