diff --git a/common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp b/common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
index 6bf3a6af7c699..8c95c9ce9e955 100644
--- a/common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
+++ b/common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
@@ -20,27 +20,37 @@
 
 #include <gtest/gtest.h>
 
-class PublishedTimePublisherTest : public ::testing::Test
+class PublishedTimePublisherWithSubscriptionTest : public ::testing::Test
 {
 protected:
   std::shared_ptr<rclcpp::Node> node_{nullptr};
-  std::shared_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_{nullptr};
+  std::shared_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_ptr_{
+    nullptr};
 
-  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> first_test_publisher_{nullptr};
-  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> second_test_publisher_{nullptr};
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> first_test_publisher_ptr_{nullptr};
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> second_test_publisher_ptr_{nullptr};
 
   std::shared_ptr<rclcpp::Subscription<autoware_internal_msgs::msg::PublishedTime>>
-    first_test_subscriber_{nullptr};
+    first_test_subscriber_ptr_{nullptr};
   std::shared_ptr<rclcpp::Subscription<autoware_internal_msgs::msg::PublishedTime>>
-    second_test_subscriber_{nullptr};
+    second_test_subscriber_ptr_{nullptr};
 
-  autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr first_published_time_{nullptr};
-  autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr second_published_time_{nullptr};
+  autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr first_published_time_ptr_{nullptr};
+  autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr second_published_time_ptr_{nullptr};
+
+  std_msgs::msg::Header first_header_;
+  std_msgs::msg::Header second_header_;
 
   void SetUp() override
   {
     ASSERT_TRUE(rclcpp::ok());
 
+    // init headers which will be used to publish
+    first_header_.stamp = rclcpp::Time(0);
+    first_header_.frame_id = "frame_id_1";
+    second_header_.stamp = rclcpp::Time(1);
+    second_header_.frame_id = "frame_id_2";
+
     // Simplify node and topic names for brevity and uniqueness
     const std::string test_name = ::testing::UnitTest::GetInstance()->current_test_info()->name();
     const std::string base_name =
@@ -51,30 +61,31 @@ class PublishedTimePublisherTest : public ::testing::Test
     node_ = std::make_shared<rclcpp::Node>(base_name + "_node");
 
     // Create the first publisher
-    first_test_publisher_ =
+    first_test_publisher_ptr_ =
       node_->create_publisher<std_msgs::msg::Header>(base_name + "_topic1", 1);
 
     // Create the second publisher
-    second_test_publisher_ =
+    second_test_publisher_ptr_ =
       node_->create_publisher<std_msgs::msg::Header>(base_name + "_topic2", 1);
 
     // Create a PublishedTimePublisher
-    published_time_publisher_ =
+    published_time_publisher_ptr_ =
       std::make_shared<tier4_autoware_utils::PublishedTimePublisher>(node_.get());
 
     // Create the first subscriber
-    first_test_subscriber_ = node_->create_subscription<autoware_internal_msgs::msg::PublishedTime>(
-      base_name + "_topic1" + suffix, 1,
-      [this](autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr msg) {
-        this->first_published_time_ = std::move(msg);
-      });
+    first_test_subscriber_ptr_ =
+      node_->create_subscription<autoware_internal_msgs::msg::PublishedTime>(
+        base_name + "_topic1" + suffix, 1,
+        [this](autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr msg) {
+          this->first_published_time_ptr_ = std::move(msg);
+        });
 
     // Create the second subscriber
-    second_test_subscriber_ =
+    second_test_subscriber_ptr_ =
       node_->create_subscription<autoware_internal_msgs::msg::PublishedTime>(
         base_name + "_topic2" + suffix, 1,
         [this](autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr msg) {
-          this->second_published_time_ = std::move(msg);
+          this->second_published_time_ptr_ = std::move(msg);
         });
 
     rclcpp::spin_some(node_);
@@ -83,84 +94,233 @@ class PublishedTimePublisherTest : public ::testing::Test
   void TearDown() override {}
 };
 
-TEST_F(PublishedTimePublisherTest, PublishMsgWithHeader)
+class PublishedTimePublisherWithoutSubscriptionTest : public ::testing::Test
 {
-  // Check if the PublishedTimePublisher is created
-  ASSERT_TRUE(published_time_publisher_ != nullptr);
+protected:
+  std::shared_ptr<rclcpp::Node> node_{nullptr};
+  std::shared_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_ptr_{
+    nullptr};
+
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> first_test_publisher_ptr_{nullptr};
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> second_test_publisher_ptr_{nullptr};
+
+  autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr first_published_time_ptr_{nullptr};
+  autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr second_published_time_ptr_{nullptr};
+
+  std_msgs::msg::Header first_header_;
+  std_msgs::msg::Header second_header_;
+
+  void SetUp() override
+  {
+    ASSERT_TRUE(rclcpp::ok());
+
+    // init headers which will be used to publish
+    first_header_.stamp = rclcpp::Time(0);
+    first_header_.frame_id = "frame_id_1";
+    second_header_.stamp = rclcpp::Time(1);
+    second_header_.frame_id = "frame_id_2";
+
+    // Simplify node and topic names for brevity and uniqueness
+    const std::string test_name = ::testing::UnitTest::GetInstance()->current_test_info()->name();
+    const std::string base_name =
+      "published_time_publisher_" + test_name;           // Base name for node and topics
+    const std::string suffix = "/debug/published_time";  // Suffix for published time topics
+
+    // Create a node
+    node_ = std::make_shared<rclcpp::Node>(base_name + "_node");
+
+    // Create the first publisher
+    first_test_publisher_ptr_ =
+      node_->create_publisher<std_msgs::msg::Header>(base_name + "_topic1", 1);
+
+    // Create the second publisher
+    second_test_publisher_ptr_ =
+      node_->create_publisher<std_msgs::msg::Header>(base_name + "_topic2", 1);
+
+    // Create a PublishedTimePublisher
+    published_time_publisher_ptr_ =
+      std::make_shared<tier4_autoware_utils::PublishedTimePublisher>(node_.get());
+
+    rclcpp::spin_some(node_);
+  }
+
+  void TearDown() override {}
+};
 
-  std_msgs::msg::Header header;
-  header.stamp = rclcpp::Time(1234);
+TEST_F(PublishedTimePublisherWithSubscriptionTest, WithoutPublishing)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
 
   // Use Published Time Publisher .publish_if_subscribed() with a header
-  published_time_publisher_->publish_if_subscribed(first_test_publisher_, header);
+  published_time_publisher_ptr_->publish_if_subscribed(first_test_publisher_ptr_, first_header_);
   rclcpp::spin_some(node_);
 
   // Check if the published_time_ is created
-  ASSERT_TRUE(first_published_time_ != nullptr);
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
 
   // Check if the published time is the same as the header
-  EXPECT_EQ(first_published_time_->header.stamp, header.stamp);
+  EXPECT_EQ(first_published_time_ptr_->header.stamp, first_header_.stamp);
 }
 
-TEST_F(PublishedTimePublisherTest, PublishMsgWithTimestamp)
+TEST_F(PublishedTimePublisherWithSubscriptionTest, PublishMsgWithHeader)
 {
   // Check if the PublishedTimePublisher is created
-  ASSERT_TRUE(published_time_publisher_ != nullptr);
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
 
-  std_msgs::msg::Header header;
-  header.stamp = rclcpp::Time(4321);
+  // Use Published Time Publisher .publish_if_subscribed() with a header
+  published_time_publisher_ptr_->publish_if_subscribed(first_test_publisher_ptr_, first_header_);
+  rclcpp::spin_some(node_);
+
+  // Check if the published_time_ is created
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+
+  // Check if the published time is the same as the header
+  EXPECT_EQ(first_published_time_ptr_->header.stamp, first_header_.stamp);
+}
+
+TEST_F(PublishedTimePublisherWithSubscriptionTest, PublishMsgWithTimestamp)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
 
   // Use Published Time Publisher .publish_if_subscribed() with a timestamp
-  published_time_publisher_->publish_if_subscribed(first_test_publisher_, header.stamp);
+  published_time_publisher_ptr_->publish_if_subscribed(
+    first_test_publisher_ptr_, first_header_.stamp);
   rclcpp::spin_some(node_);
 
   // Check if the published_time_ is created
-  ASSERT_TRUE(first_published_time_ != nullptr);
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
 
   // Check if the published time is the same as the header
-  EXPECT_EQ(first_published_time_->header.stamp, header.stamp);
+  EXPECT_EQ(first_published_time_ptr_->header.stamp, first_header_.stamp);
 }
 
-TEST_F(PublishedTimePublisherTest, MultiplePublishMsgWithHeader)
+TEST_F(PublishedTimePublisherWithSubscriptionTest, MultiplePublishMsgWithHeader)
 {
   // Check if the PublishedTimePublisher is created
-  ASSERT_TRUE(published_time_publisher_ != nullptr);
-
-  std_msgs::msg::Header header;
-  header.stamp = rclcpp::Time(12345);
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
 
   // Use Published Time Publisher .publish_if_subscribed() with a header for multiple publishers
-  published_time_publisher_->publish_if_subscribed(first_test_publisher_, header);
-  published_time_publisher_->publish_if_subscribed(second_test_publisher_, header);
+  published_time_publisher_ptr_->publish_if_subscribed(first_test_publisher_ptr_, first_header_);
+  published_time_publisher_ptr_->publish_if_subscribed(second_test_publisher_ptr_, first_header_);
   rclcpp::spin_some(node_);
 
   // Check if the published_time_ is created
-  ASSERT_TRUE(first_published_time_ != nullptr);
-  ASSERT_TRUE(second_published_time_ != nullptr);
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+  ASSERT_TRUE(second_published_time_ptr_ != nullptr);
 
   // Check if the published time is the same as the header
-  EXPECT_EQ(first_published_time_->header.stamp, header.stamp);
-  EXPECT_EQ(second_published_time_->header.stamp, header.stamp);
+  EXPECT_EQ(first_published_time_ptr_->header.stamp, first_header_.stamp);
+  EXPECT_EQ(second_published_time_ptr_->header.stamp, first_header_.stamp);
 }
 
-TEST_F(PublishedTimePublisherTest, MultiplePublishMsgWithTimestamp)
+TEST_F(PublishedTimePublisherWithSubscriptionTest, MultiplePublishMsgWithTimestamp)
 {
   // Check if the PublishedTimePublisher is created
-  ASSERT_TRUE(published_time_publisher_ != nullptr);
-
-  std_msgs::msg::Header header;
-  header.stamp = rclcpp::Time(12345);
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
 
   // Use Published Time Publisher .publish_if_subscribed() with a timestamp for multiple publishers
-  published_time_publisher_->publish_if_subscribed(first_test_publisher_, header.stamp);
-  published_time_publisher_->publish_if_subscribed(second_test_publisher_, header.stamp);
+  published_time_publisher_ptr_->publish_if_subscribed(
+    first_test_publisher_ptr_, first_header_.stamp);
+  published_time_publisher_ptr_->publish_if_subscribed(
+    second_test_publisher_ptr_, first_header_.stamp);
   rclcpp::spin_some(node_);
 
   // Check if the published_time_ is created
-  ASSERT_TRUE(first_published_time_ != nullptr);
-  ASSERT_TRUE(second_published_time_ != nullptr);
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+  ASSERT_TRUE(second_published_time_ptr_ != nullptr);
 
   // Check if the published time is the same as the header
-  EXPECT_EQ(first_published_time_->header.stamp, header.stamp);
-  EXPECT_EQ(second_published_time_->header.stamp, header.stamp);
+  EXPECT_EQ(first_published_time_ptr_->header.stamp, first_header_.stamp);
+  EXPECT_EQ(second_published_time_ptr_->header.stamp, first_header_.stamp);
+}
+
+TEST_F(PublishedTimePublisherWithoutSubscriptionTest, WithoutPublishing)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a header
+  published_time_publisher_ptr_->publish_if_subscribed(first_test_publisher_ptr_, first_header_);
+  rclcpp::spin_some(node_);
+
+  // Check if the published_time_ is created
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+
+  // Check if the published time is null
+  EXPECT_EQ(first_published_time_ptr_, nullptr);
+}
+
+TEST_F(PublishedTimePublisherWithoutSubscriptionTest, PublishMsgWithHeader)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a header
+  published_time_publisher_ptr_->publish_if_subscribed(first_test_publisher_ptr_, first_header_);
+  rclcpp::spin_some(node_);
+
+  // Check if the published_time_ is created
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+
+  // Check if the published time is null
+  EXPECT_EQ(first_published_time_ptr_, nullptr);
+}
+
+TEST_F(PublishedTimePublisherWithoutSubscriptionTest, PublishMsgWithTimestamp)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a timestamp
+  published_time_publisher_ptr_->publish_if_subscribed(
+    first_test_publisher_ptr_, first_header_.stamp);
+  rclcpp::spin_some(node_);
+
+  // Check if the published_time_ is created
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+
+  // Check if the published time is null
+  EXPECT_EQ(first_published_time_ptr_, nullptr);
+}
+
+TEST_F(PublishedTimePublisherWithoutSubscriptionTest, MultiplePublishMsgWithHeader)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a header for multiple publishers
+  published_time_publisher_ptr_->publish_if_subscribed(first_test_publisher_ptr_, first_header_);
+  published_time_publisher_ptr_->publish_if_subscribed(second_test_publisher_ptr_, first_header_);
+  rclcpp::spin_some(node_);
+
+  // Check if the published_time_ is created
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+  ASSERT_TRUE(second_published_time_ptr_ != nullptr);
+
+  // Check if the published time is null
+  EXPECT_EQ(first_published_time_ptr_, nullptr);
+  EXPECT_EQ(second_published_time_ptr_, nullptr);
+}
+
+TEST_F(PublishedTimePublisherWithoutSubscriptionTest, MultiplePublishMsgWithTimestamp)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a timestamp for multiple publishers
+  published_time_publisher_ptr_->publish_if_subscribed(
+    first_test_publisher_ptr_, first_header_.stamp);
+  published_time_publisher_ptr_->publish_if_subscribed(
+    second_test_publisher_ptr_, first_header_.stamp);
+  rclcpp::spin_some(node_);
+
+  // Check if the published_time_ is created
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+  ASSERT_TRUE(second_published_time_ptr_ != nullptr);
+
+  // Check if the published time is null
+  EXPECT_EQ(first_published_time_ptr_, nullptr);
+  EXPECT_EQ(second_published_time_ptr_, nullptr);
 }