diff --git a/cartographer_ros/cartographer_ros/node.cc b/cartographer_ros/cartographer_ros/node.cc
index 84ce7d3..7570451 100644
--- a/cartographer_ros/cartographer_ros/node.cc
+++ b/cartographer_ros/cartographer_ros/node.cc
@@ -217,11 +217,13 @@ void Node::PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event) {
         FromRos(ros::Time::now()), extrapolator.GetLastExtrapolatedTime());
     stamped_transform.header.stamp = ToRos(now);
 
-    Rigid3d tracking_to_local = extrapolator.ExtrapolatePose(now);
-    if (trajectory_state.trajectory_options.publish_frame_projected_to_2d) {
-      tracking_to_local = carto::transform::Embed3D(
-          carto::transform::Project2D(tracking_to_local));
-    }
+    const Rigid3d tracking_to_local = [&] {
+      if (trajectory_state.trajectory_options.publish_frame_projected_to_2d) {
+        return carto::transform::Embed3D(
+            carto::transform::Project2D(extrapolator.ExtrapolatePose(now)));
+      }
+      return extrapolator.ExtrapolatePose(now);
+    }();
 
     const Rigid3d tracking_to_map =
         trajectory_state.local_to_map * tracking_to_local;