diff --git a/include/rviz_2d_plot_plugin/plot_2d_config.hpp b/include/rviz_2d_plot_plugin/plot_2d_config.hpp
index 2a84775..cf3f3b3 100644
--- a/include/rviz_2d_plot_plugin/plot_2d_config.hpp
+++ b/include/rviz_2d_plot_plugin/plot_2d_config.hpp
@@ -46,6 +46,7 @@ enum class XAxisMode
 enum class PlotMode
 {
   TimeSeries,
+  Delay,
   XY,
 };
 
diff --git a/src/plot_2d_controller.cpp b/src/plot_2d_controller.cpp
index eb724f2..9c21e26 100644
--- a/src/plot_2d_controller.cpp
+++ b/src/plot_2d_controller.cpp
@@ -454,16 +454,32 @@ bool Plot2DController::appendSerializedMessage(
       x_value = x_result.value.value();
     }
 
-    const double transformed_value =
-      result.value.value() * config_.series[i].value_scale + config_.series[i].value_offset;
-    series.status = PlotControllerStatus::Ok;
-    series.message.clear();
-    series.samples.append(sample_time, x_value, transformed_value);
-    if (!xy_mode || config_.time.xy_history_mode == XYHistoryMode::RollingTimeWindow) {
-      series.samples.pruneToWindow(sample_time, config_.time.window_seconds);
+    const bool delay_mode = config_.plot_mode == PlotMode::Delay;
+    if (delay_mode)
+    {
+      const double transformed_value = receive_time - x_value;
+      series.status = PlotControllerStatus::Ok;
+      series.message.clear();
+      series.samples.append(sample_time, x_value, transformed_value);
+      if (!xy_mode || config_.time.xy_history_mode == XYHistoryMode::RollingTimeWindow) {
+        series.samples.pruneToWindow(sample_time, config_.time.window_seconds);
+      }
+      series.latest_value = transformed_value;
+      appended = true;
+    }
+    else
+    {
+      const double transformed_value =
+        result.value.value() * config_.series[i].value_scale + config_.series[i].value_offset;
+      series.status = PlotControllerStatus::Ok;
+      series.message.clear();
+      series.samples.append(sample_time, x_value, transformed_value);
+      if (!xy_mode || config_.time.xy_history_mode == XYHistoryMode::RollingTimeWindow) {
+        series.samples.pruneToWindow(sample_time, config_.time.window_seconds);
+      }
+      series.latest_value = transformed_value;
+      appended = true;
     }
-    series.latest_value = transformed_value;
-    appended = true;
   }
 
   updateAggregateStatus();
diff --git a/src/plot_2d_display_options.cpp b/src/plot_2d_display_options.cpp
index 94ab18b..697e501 100644
--- a/src/plot_2d_display_options.cpp
+++ b/src/plot_2d_display_options.cpp
@@ -212,6 +212,8 @@ std::string plotModeName(const PlotMode mode)
   switch (mode) {
     case PlotMode::TimeSeries:
       return "Time Series";
+    case PlotMode::Delay:
+      return "Delay";
     case PlotMode::XY:
       return "XY";
   }
@@ -223,6 +225,9 @@ PlotMode plotModeFromName(const std::string & name)
   if (name == "XY") {
     return PlotMode::XY;
   }
+  if (name == "Delay") {
+    return PlotMode::Delay;
+  }
   return PlotMode::TimeSeries;
 }
 
@@ -232,6 +237,7 @@ void addPlotModeOptions(rviz_common::properties::EnumProperty * property)
     return;
   }
   property->addOptionStd(plotModeName(PlotMode::TimeSeries));
+  property->addOptionStd(plotModeName(PlotMode::Delay));
   property->addOptionStd(plotModeName(PlotMode::XY));
 }