diff --git a/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp b/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp
index af6a1551..bf04abca 100644
--- a/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp
+++ b/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp
@@ -188,7 +188,10 @@ BonxaiMapsManager::update_from_pc2(const sensor_msgs::msg::PointCloud2 & pc2)
       tf_info.map_frame, pc2.header.frame_id, pc2.header.stamp,
       rclcpp::Duration::from_seconds(0.05));
   } catch (const tf2::TransformException & ex) {
-    RCLCPP_WARN(get_node()->get_logger(), "OctomapMapsManager: TF failed: %s", ex.what());
+    // Throttled: if TF is always late, every point cloud would warn
+    RCLCPP_WARN_THROTTLE(
+      get_node()->get_logger(), *get_node()->get_clock(), 1000,
+      "BonxaiMapsManager: TF failed, point cloud skipped: %s", ex.what());
     return;
   }