diff --git a/src/ros_filter.cpp b/src/ros_filter.cpp
index 73b7cce9..73a9252d 100644
--- a/src/ros_filter.cpp
+++ b/src/ros_filter.cpp
@@ -2178,30 +2178,29 @@ void RosFilter<T>::periodicUpdate()
       if (filtered_position->header.frame_id == odom_frame_id_) {
         world_transform_broadcaster_->sendTransform(world_base_link_trans_msg_);
       } else if (filtered_position->header.frame_id == map_frame_id_) {
-        try {
-          tf2::Transform world_base_link_trans;
-          tf2::fromMsg(
-            world_base_link_trans_msg_.transform,
-            world_base_link_trans);
-
-          tf2::Transform base_link_odom_trans;
-          tf2::fromMsg(
-            tf_buffer_
-            ->lookupTransform(
-              base_link_frame_id_,
-              odom_frame_id_,
-              tf2::TimePointZero)
-            .transform,
-            base_link_odom_trans);
-
+        tf2::Transform world_base_link_trans;
+        tf2::fromMsg(
+          world_base_link_trans_msg_.transform,
+          world_base_link_trans);
+
+        tf2::Transform base_link_odom_trans;
+        bool can_transform_odom = ros_filter_utilities::lookupTransformSafe(
+          tf_buffer_.get(),
+          base_link_frame_id_,
+          odom_frame_id_,
+          filtered_position->header.stamp,
+          tf_timeout_,
+          base_link_odom_trans);
+
+        if(can_transform_odom) {
           /*
            * First, see these two references:
            * http://wiki.ros.org/tf/Overview/Using%20Published%20Transforms#lookupTransform
            * http://wiki.ros.org/geometry/CoordinateFrameConventions#Transform_Direction
            * We have a transform from map_frame_id_->base_link_frame_id_, but
            * it would actually transform a given pose from
-           * base_link_frame_id_->map_frame_id_. We then used lookupTransform,
-           * whose first two arguments are target frame and source frame, to
+           * base_link_frame_id_->map_frame_id_. We then used lookupTransformSafe,
+           * whose second and third arguments are target frame and source frame, to
            * get a transform from base_link_frame_id_->odom_frame_id_.
            * However, this transform would actually transform data from
            * odom_frame_id_->base_link_frame_id_. Now imagine that we have a
@@ -2227,7 +2226,7 @@ void RosFilter<T>::periodicUpdate()
           map_odom_trans_msg.child_frame_id = odom_frame_id_;
 
           world_transform_broadcaster_->sendTransform(map_odom_trans_msg);
-        } catch (...) {
+        } else {
           RCLCPP_ERROR_STREAM_SKIPFIRST_THROTTLE(
             get_logger(),
             *get_clock(),