diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.cc b/cartographer/mapping/internal/2d/pose_graph_2d.cc
index f621c59..88dbcdf 100644
--- a/cartographer/mapping/internal/2d/pose_graph_2d.cc
+++ b/cartographer/mapping/internal/2d/pose_graph_2d.cc
@@ -773,9 +773,6 @@ void PoseGraph2D::RunOptimization() {
 bool PoseGraph2D::CanAddWorkItemModifying(int trajectory_id) {
   auto it = data_.trajectories_state.find(trajectory_id);
   if (it == data_.trajectories_state.end()) {
-    LOG(WARNING) << "trajectory_id:" << trajectory_id
-                 << " has not been added "
-                    "but modification is requested.";
     return true;
   }
   if (it->second.state == TrajectoryState::FINISHED) {
diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.cc b/cartographer/mapping/internal/3d/pose_graph_3d.cc
index e651a0b..9d43f96 100644
--- a/cartographer/mapping/internal/3d/pose_graph_3d.cc
+++ b/cartographer/mapping/internal/3d/pose_graph_3d.cc
@@ -856,9 +856,6 @@ void PoseGraph3D::RunOptimization() {
 bool PoseGraph3D::CanAddWorkItemModifying(int trajectory_id) {
   auto it = data_.trajectories_state.find(trajectory_id);
   if (it == data_.trajectories_state.end()) {
-    LOG(WARNING) << "trajectory_id:" << trajectory_id
-                 << " has not been added "
-                    "but modification is requested.";
     return true;
   }
   if (it->second.state == TrajectoryState::FINISHED) {