diff --git a/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc b/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
index 36ba3f5..0e33f99 100644
--- a/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
+++ b/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
@@ -45,7 +45,7 @@ namespace cartographer_ros {
 namespace {
 
 void Run() {
-  constexpr double kTfBufferCacheTimeInSeconds = 1e6;
+  constexpr double kTfBufferCacheTimeInSeconds = 10.;
   tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
   tf2_ros::TransformListener tf(tf_buffer);
   NodeOptions node_options;
diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index b41972c..62d8181 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -44,7 +44,7 @@ namespace cartographer_ros {
 namespace {
 
 void Run() {
-  constexpr double kTfBufferCacheTimeInSeconds = 1e6;
+  constexpr double kTfBufferCacheTimeInSeconds = 10.;
   tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
   tf2_ros::TransformListener tf(tf_buffer);
   NodeOptions node_options;