diff --git a/nav2_costmap_2d/src/observation_buffer.cpp b/nav2_costmap_2d/src/observation_buffer.cpp
index 8a06823df38..be3578bbd9b 100644
--- a/nav2_costmap_2d/src/observation_buffer.cpp
+++ b/nav2_costmap_2d/src/observation_buffer.cpp
@@ -153,6 +153,15 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::msg::PointCloud2 & cloud)
     modifier.resize(point_count);
     observation_cloud.header.stamp = cloud.header.stamp;
     observation_cloud.header.frame_id = global_frame_cloud.header.frame_id;
+  } catch (tf2::ExtrapolationException & ex) {
+    // if an exception occurs, we need to remove the empty observation from the list
+    observation_list_.pop_front();
+    RCLCPP_ERROR(
+      logger_,
+      "TF Extrapolation Exception that should never happen for sensor frame: %s, cloud frame: %s, %s",
+      sensor_frame_.c_str(),
+      cloud.header.frame_id.c_str(), ex.what());
+    return;
   } catch (tf2::TransformException & ex) {
     // if an exception occurs, we need to remove the empty observation from the list
     observation_list_.pop_front();