diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp
index 32227e1df39..35488e082ca 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp
@@ -100,7 +100,6 @@ class Source
   bool getTransform(
     const std::string & source_frame_id,
     const rclcpp::Time & source_time,
-    const rclcpp::Time & curr_time,
     tf2::Transform & tf_transform) const;
 
   // ----- Variables -----
diff --git a/nav2_collision_monitor/src/pointcloud.cpp b/nav2_collision_monitor/src/pointcloud.cpp
index ed39ade7a2f..ede48846c4f 100644
--- a/nav2_collision_monitor/src/pointcloud.cpp
+++ b/nav2_collision_monitor/src/pointcloud.cpp
@@ -111,7 +111,7 @@ void PointCloud::getData(
   // Obtaining the transform to get data from source frame and time where it was received
   // to the base frame and current time
   tf2::Transform tf_transform;
-  if (!getTransform(data_->header.frame_id, data_->header.stamp, curr_time, tf_transform)) {
+  if (!getTransform(data_->header.frame_id, data_->header.stamp, tf_transform)) {
     return;
   }
 
diff --git a/nav2_collision_monitor/src/scan.cpp b/nav2_collision_monitor/src/scan.cpp
index a73d9e53cf0..66ef3b068c4 100644
--- a/nav2_collision_monitor/src/scan.cpp
+++ b/nav2_collision_monitor/src/scan.cpp
@@ -76,7 +76,7 @@ void Scan::getData(
   // Obtaining the transform to get data from source frame and time where it was received
   // to the base frame and current time
   tf2::Transform tf_transform;
-  if (!getTransform(data_->header.frame_id, data_->header.stamp, curr_time, tf_transform)) {
+  if (!getTransform(data_->header.frame_id, data_->header.stamp, tf_transform)) {
     return;
   }
 
diff --git a/nav2_collision_monitor/src/source.cpp b/nav2_collision_monitor/src/source.cpp
index e9453016406..dd562ee1b32 100644
--- a/nav2_collision_monitor/src/source.cpp
+++ b/nav2_collision_monitor/src/source.cpp
@@ -79,7 +79,6 @@ bool Source::sourceValid(
 bool Source::getTransform(
   const std::string & source_frame_id,
   const rclcpp::Time & source_time,
-  const rclcpp::Time & curr_time,
   tf2::Transform & tf2_transform) const
 {
   geometry_msgs::msg::TransformStamped transform;
@@ -88,10 +87,7 @@ bool Source::getTransform(
   try {
     // Obtaining the transform to get data from source to base frame.
     // This also considers the time shift between source and base.
-    transform = tf_buffer_->lookupTransform(
-      base_frame_id_, curr_time,
-      source_frame_id, source_time,
-      global_frame_id_, transform_tolerance_);
+    transform = tf_buffer_->lookupTransform(base_frame_id_, source_frame_id, source_time, transform_tolerance_);
   } catch (tf2::TransformException & e) {
     RCLCPP_ERROR(
       logger_,