diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp
index f76af5060316c..9ce34d8482fbd 100644
--- a/perception/image_projection_based_fusion/src/fusion_node.cpp
+++ b/perception/image_projection_based_fusion/src/fusion_node.cpp
@@ -166,8 +166,8 @@ void FusionNode<Msg, Obj>::subCallback(const typename Msg::ConstSharedPtr input_
   if (sub_std_pair_.second != nullptr) {
     stop_watch_ptr_->toc("processing_time", true);
     timer_->cancel();
-    publish(*(sub_std_pair_.second));
     postprocess(*(sub_std_pair_.second));
+    publish(*(sub_std_pair_.second));
     sub_std_pair_.second = nullptr;
     std::fill(is_fused_.begin(), is_fused_.end(), false);
 
@@ -260,8 +260,8 @@ void FusionNode<Msg, Obj>::subCallback(const typename Msg::ConstSharedPtr input_
   // Msg
   if (std::count(is_fused_.begin(), is_fused_.end(), true) == static_cast<int>(rois_number_)) {
     timer_->cancel();
-    publish(*output_msg);
     postprocess(*output_msg);
+    publish(*output_msg);
     std::fill(is_fused_.begin(), is_fused_.end(), false);
     sub_std_pair_.second = nullptr;
 
@@ -322,8 +322,8 @@ void FusionNode<Msg, Obj>::roiCallback(
 
       if (std::count(is_fused_.begin(), is_fused_.end(), true) == static_cast<int>(rois_number_)) {
         timer_->cancel();
-        publish(*(sub_std_pair_.second));
         postprocess(*(sub_std_pair_.second));
+        publish(*(sub_std_pair_.second));
         std::fill(is_fused_.begin(), is_fused_.end(), false);
         sub_std_pair_.second = nullptr;
 
@@ -362,8 +362,8 @@ void FusionNode<Msg, Obj>::timer_callback()
     if (sub_std_pair_.second != nullptr) {
       stop_watch_ptr_->toc("processing_time", true);
 
-      publish(*(sub_std_pair_.second));
       postprocess(*(sub_std_pair_.second));
+      publish(*(sub_std_pair_.second));
 
       // add processing time for debug
       if (debug_publisher_) {