diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp
index 4cb0933c3..791ce3472 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp
@@ -34,6 +34,7 @@
 #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_TRANSPORT_DISPLAY_HPP_
 
 #include <memory>
+#include <string>
 
 #include "get_transport_from_topic.hpp"
 #include "image_transport/image_transport.hpp"
@@ -171,18 +172,32 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
 
     ++messages_received_;
     QString topic_str = QString::number(messages_received_) + " messages received";
+    rviz_common::properties::StatusProperty::Level topic_status_level =
+      rviz_common::properties::StatusProperty::Ok;
     // Append topic subscription frequency if we can lock rviz_ros_node_.
     std::shared_ptr<rviz_common::ros_integration::RosNodeAbstractionIface> node_interface =
       rviz_ros_node_.lock();
     if (node_interface != nullptr) {
-      const double duration =
-        (node_interface->get_raw_node()->now() - subscription_start_time_).seconds();
-      const double subscription_frequency =
-        static_cast<double>(messages_received_) / duration;
-      topic_str += " at " + QString::number(subscription_frequency, 'f', 1) + " hz.";
+      try {
+        const double duration =
+          (node_interface->get_raw_node()->now() - subscription_start_time_).seconds();
+        const double subscription_frequency =
+          static_cast<double>(messages_received_) / duration;
+        topic_str += " at " + QString::number(subscription_frequency, 'f', 1) + " hz.";
+      } catch (const std::runtime_error & e) {
+        if (std::string(e.what()).find("can't subtract times with different time sources") !=
+          std::string::npos)
+        {
+          topic_status_level = rviz_common::properties::StatusProperty::Warn;
+          topic_str += ". ";
+          topic_str += e.what();
+        } else {
+          throw;
+        }
+      }
     }
     setStatus(
-      rviz_common::properties::StatusProperty::Ok,
+      topic_status_level,
       "Topic",
       topic_str);