diff --git a/nav2_bringup/launch/rviz_launch.py b/nav2_bringup/launch/rviz_launch.py
index c5c3fd61524..6ab28adf9f2 100644
--- a/nav2_bringup/launch/rviz_launch.py
+++ b/nav2_bringup/launch/rviz_launch.py
@@ -59,7 +59,7 @@ def generate_launch_description() -> LaunchDescription:
         package='rviz2',
         executable='rviz2',
         namespace=namespace,
-        arguments=['-d', rviz_config_file, '--ros-args', '--log-level', 'warn'],
+        arguments=['-d', rviz_config_file],
         output='screen',
         parameters=[{'use_sim_time': use_sim_time}],
         remappings=[
diff --git a/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
index bf5d861ccf3..74fbf046fec 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
@@ -172,8 +172,8 @@ bool CostmapFilter::transformPose(
     try {
       tf_->transform(in, out, mask_frame, transform_tolerance_);
     } catch (tf2::TransformException & ex) {
-      RCLCPP_ERROR(
-        logger_,
+      RCLCPP_ERROR_THROTTLE(
+        logger_, *(clock_), 2000,
         "CostmapFilter: failed to get costmap frame (%s) "
         "transformation to mask frame (%s) with error: %s",
         global_frame.c_str(), mask_frame.c_str(), ex.what());
diff --git a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
index 16eec023c6b..cef37c8a17c 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
@@ -268,8 +268,8 @@ void KeepoutFilter::process(
         mask_frame, global_frame_, tf2::TimePointZero,
         transform_tolerance_);
     } catch (tf2::TransformException & ex) {
-      RCLCPP_ERROR(
-        logger_,
+      RCLCPP_ERROR_THROTTLE(
+        logger_, *(clock_), 2000,
         "KeepoutFilter: Failed to get costmap frame (%s) "
         "transformation to mask frame (%s) with error: %s",
         global_frame_.c_str(), mask_frame.c_str(), ex.what());