diff --git a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
index 643fda4c9de..c75e14cd45b 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
@@ -176,6 +176,13 @@ void KeepoutFilter::updateBounds(
 
   CostmapFilter::updateBounds(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y);
 
+  if (!filter_mask_) {
+    RCLCPP_WARN_THROTTLE(
+      logger_, *(clock_), 2000,
+      "KeepoutFilter: Filter mask was not received");
+    return;
+  }
+
   // If new keepout zone received
   if (has_updated_data_) {
     double wx, wy;