diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp
index 656adaac252fc..b5ca4b8006552 100644
--- a/perception/image_projection_based_fusion/src/fusion_node.cpp
+++ b/perception/image_projection_based_fusion/src/fusion_node.cpp
@@ -164,7 +164,8 @@ void FusionNode<Msg, Obj>::subCallback(const typename Msg::ConstSharedPtr input_
   // if matching rois exist, fuseOnSingle
   for (std::size_t roi_i = 0; roi_i < rois_number_; ++roi_i) {
     if (camera_info_map_.find(roi_i) == camera_info_map_.end()) {
-      RCLCPP_WARN(this->get_logger(), "no camera info. id is %zu", roi_i);
+      RCLCPP_WARN_THROTTLE(
+        this->get_logger(), *this->get_clock(), 5000, "no camera info. id is %zu", roi_i);
       continue;
     }
 
@@ -269,7 +270,8 @@ void FusionNode<Msg, Obj>::roiCallback(
 
     if (interval < match_threshold_ms_ * (int64_t)1e6 && is_fused_.at(roi_i) == false) {
       if (camera_info_map_.find(roi_i) == camera_info_map_.end()) {
-        RCLCPP_WARN(this->get_logger(), "no camera info. id is %zu", roi_i);
+        RCLCPP_WARN_THROTTLE(
+          this->get_logger(), *this->get_clock(), 5000, "no camera info. id is %zu", roi_i);
         (roi_stdmap_.at(roi_i))[timestamp_nsec] = input_roi_msg;
         return;
       }
diff --git a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
index eb4a497e70495..0daed93c05b2d 100644
--- a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
+++ b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
@@ -216,7 +216,7 @@ DetectedObjects RadarTracksMsgsConverterNode::convertRadarTrackToDetectedObjects
         kinematics.twist_with_covariance.twist.linear.y += odometry_data_->twist.twist.linear.y;
         kinematics.twist_with_covariance.twist.linear.z += odometry_data_->twist.twist.linear.z;
       } else {
-        RCLCPP_INFO(get_logger(), "Odometry data is not coming");
+        RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "Odometry data is not coming");
       }
     }
 
@@ -303,7 +303,7 @@ TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects()
         kinematics.twist_with_covariance.twist.linear.y += odometry_data_->twist.twist.linear.y;
         kinematics.twist_with_covariance.twist.linear.z += odometry_data_->twist.twist.linear.z;
       } else {
-        RCLCPP_INFO(get_logger(), "Odometry data is not coming");
+        RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "Odometry data is not coming");
       }
     }