diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index cb2a7ef..707118a 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -402,7 +402,7 @@ void Node::PublishPoseAndScanMatchedPointCloud(
   const Rigid3d tracking_to_map = local_to_map * tracking_to_local;
 
   geometry_msgs::TransformStamped stamped_transform;
-  stamped_transform.header.stamp = ToRos(last_pose_estimate.time);
+  stamped_transform.header.stamp = ros::Time::now();
 
   const auto published_to_tracking = tf_bridge_.LookupToTracking(
       last_pose_estimate.time, options_.published_frame);