diff --git a/tf2/include/tf2/time_cache.h b/tf2/include/tf2/time_cache.h
index 14311129b..639711d3d 100644
--- a/tf2/include/tf2/time_cache.h
+++ b/tf2/include/tf2/time_cache.h
@@ -118,7 +118,7 @@ class TimeCache : public TimeCacheInterface
   L_TransformStorage storage_;
 
   ros::Duration max_storage_time_;
-
+  ros::Time last_repeated_warn_time_;
 
   /// A helper function for getData
   //Assumes storage is already locked for it
diff --git a/tf2/src/buffer_core.cpp b/tf2/src/buffer_core.cpp
index 6eed12d09..5b3ef62d0 100644
--- a/tf2/src/buffer_core.cpp
+++ b/tf2/src/buffer_core.cpp
@@ -275,7 +275,10 @@ bool BufferCore::setTransform(const geometry_msgs::TransformStamped& transform_i
     }
     else
     {
-      CONSOLE_BRIDGE_logWarn((error_string+" for frame %s at time %lf according to authority %s").c_str(), stripped.child_frame_id.c_str(), stripped.header.stamp.toSec(), authority.c_str());
+      if (error_string.size())
+      {
+        CONSOLE_BRIDGE_logWarn((error_string+" for frame %s at time %lf according to authority %s").c_str(), stripped.child_frame_id.c_str(), stripped.header.stamp.toSec(), authority.c_str());
+      }
       return false;
     }
   }
diff --git a/tf2/src/cache.cpp b/tf2/src/cache.cpp
index f9614c792..ac5d59a98 100644
--- a/tf2/src/cache.cpp
+++ b/tf2/src/cache.cpp
@@ -275,8 +275,13 @@ bool TimeCache::insertData(const TransformStorage& new_data, std::string* error_
   }
   if (storage_it != storage_.end() && storage_it->stamp_ == new_data.stamp_)
   {
-    if (error_str)
+    // Throttle TF_REPEATED_DATA error message to 10 seconds.
+    // Console bridge does not have throttling, so implement throttling here.
+    // Because insertData may be called prior to ros::Time being initialized,
+    // use the stamp from the message as "now".
+    if (error_str && new_data.stamp_ > last_repeated_warn_time_ + ros::Duration(10.0))
     {
+      last_repeated_warn_time_ = new_data.stamp_;
       *error_str = "TF_REPEATED_DATA ignoring data with redundant timestamp";
     }
     return false;
@@ -292,6 +297,8 @@ bool TimeCache::insertData(const TransformStorage& new_data, std::string* error_
 
 void TimeCache::clearList()
 {
+  // Reset the TF_REPEATED_DATA error message throttle.
+  last_repeated_warn_time_ = ros::Time(0.0);
   storage_.clear();
 }