diff --git a/ansible/templates/drone_bridge_config.yaml.j2 b/ansible/templates/drone_bridge_config.yaml.j2
index c831324..c519c3b 100644
--- a/ansible/templates/drone_bridge_config.yaml.j2
+++ b/ansible/templates/drone_bridge_config.yaml.j2
@@ -4,4 +4,6 @@ to_domain: 0
 topics: 
   {{ns}}/mavros/state: 
     type: mavros_msgs/msg/State
-    
\ No newline at end of file
+  # Latency checker topic: drone heartbeat to host domain
+  {{ns}}/latency_checker/heartbeat:
+    type: latency_checker_ros2/msg/Heartbeat
\ No newline at end of file
diff --git a/ansible/templates/host_bridge_config.yaml.j2 b/ansible/templates/host_bridge_config.yaml.j2
index dd826e0..455f781 100644
--- a/ansible/templates/host_bridge_config.yaml.j2
+++ b/ansible/templates/host_bridge_config.yaml.j2
@@ -7,4 +7,8 @@ topics:
   /optitrack_multiplexer_node/rigid_body/nxt{{ num }}: 
     type: optitrack_multiplexer_ros2_msgs/msg/RigidBodyStamped
     to_domain: {{ num }}
+  # Latency checker topic: host heartbeat to drone domain {{ num }}
+  /{{ host_hostname | map('regex_replace', '\\.local', '') | map('regex_replace', '-', '_') | join('') }}/latency_checker/heartbeat:
+    type: latency_checker_ros2/msg/Heartbeat
+    to_domain: {{ num }}
 {% endfor %}
\ No newline at end of file