diff --git a/cartographer_ros/cartographer_ros/node.cc b/cartographer_ros/cartographer_ros/node.cc
index 9b73139..74aa1b6 100644
--- a/cartographer_ros/cartographer_ros/node.cc
+++ b/cartographer_ros/cartographer_ros/node.cc
@@ -136,10 +136,13 @@ void Node::PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event) {
 
     geometry_msgs::TransformStamped stamped_transform;
     // If we do not publish a new point cloud, we still allow time of the
-    // published poses to advance.
-    stamped_transform.header.stamp = ros::Time::now();
-    const Rigid3d tracking_to_local =
-        extrapolator.ExtrapolatePose(FromRos(stamped_transform.header.stamp));
+    // published poses to advance. If we already know a newer pose, we use its
+    // time instead. Since tf knows how to interpolate, providing newer
+    // information is better.
+    const ::cartographer::common::Time now =
+        std::max(FromRos(ros::Time::now()), extrapolator.GetLastPoseTime());
+    stamped_transform.header.stamp = ToRos(now);
+    const Rigid3d tracking_to_local = extrapolator.ExtrapolatePose(now);
     const Rigid3d tracking_to_map =
         trajectory_state.local_to_map * tracking_to_local;