diff --git a/tf2/include/tf2/buffer_core.h b/tf2/include/tf2/buffer_core.h
index 6d75127da..cb6f78c44 100644
--- a/tf2/include/tf2/buffer_core.h
+++ b/tf2/include/tf2/buffer_core.h
@@ -46,11 +46,11 @@
 
 #include "LinearMath/Transform.h"
 #include "geometry_msgs/msg/transform_stamped.hpp"
+#include "rcutils/logging_macros.h"
 #include "tf2/buffer_core_interface.h"
 #include "tf2/exceptions.h"
 #include "tf2/transform_storage.h"
 #include "tf2/visibility_control.h"
-#include "rcutils/logging_macros.h"
 
 namespace tf2
 {
diff --git a/tf2/src/buffer_core.cpp b/tf2/src/buffer_core.cpp
index 4c270800e..3da2b2d48 100644
--- a/tf2/src/buffer_core.cpp
+++ b/tf2/src/buffer_core.cpp
@@ -89,7 +89,10 @@ void fillOrWarnMessageForInvalidFrame(
   if (error_msg != nullptr) {
     *error_msg = s;
   } else {
-    RCUTILS_LOG_WARN("%s", s.c_str());
+    static constexpr std::chrono::milliseconds warning_interval =
+      std::chrono::milliseconds(2500);
+
+    RCUTILS_LOG_WARN_THROTTLE(RCUTILS_STEADY_TIME, warning_interval.count(), "%s", s.c_str());
   }
 }