diff --git a/avt_vimba_camera/include/avt_vimba_camera/avt_vimba_camera.hpp b/avt_vimba_camera/include/avt_vimba_camera/avt_vimba_camera.hpp
index c6b0339c..3422fb42 100644
--- a/avt_vimba_camera/include/avt_vimba_camera/avt_vimba_camera.hpp
+++ b/avt_vimba_camera/include/avt_vimba_camera/avt_vimba_camera.hpp
@@ -163,6 +163,10 @@ class AvtVimbaCamera
   rcl_interfaces::msg::SetParametersResult parameterCallback(const std::vector<rclcpp::Parameter>& parameters);
   void updateCameraInfo();
   void getCurrentState(diagnostic_updater::DiagnosticStatusWrapper& stat);
+
+  double last_frame_sec = 0.0;
+  void timerCallback();
+  rclcpp::TimerBase::SharedPtr timer_;
 };
 }  // namespace avt_vimba_camera
 #endif
diff --git a/avt_vimba_camera/src/avt_vimba_camera.cpp b/avt_vimba_camera/src/avt_vimba_camera.cpp
index 7a50ead9..cac1556e 100644
--- a/avt_vimba_camera/src/avt_vimba_camera.cpp
+++ b/avt_vimba_camera/src/avt_vimba_camera.cpp
@@ -64,8 +64,16 @@ AvtVimbaCamera::AvtVimbaCamera(rclcpp::Node::SharedPtr owner_node)
 
   updater_.setHardwareID("unknown");
   updater_.add(owner_node->get_name(), this, &AvtVimbaCamera::getCurrentState);
+  timer_ = nh_->create_wall_timer(std::chrono::milliseconds(1000), std::bind(&AvtVimbaCamera::timerCallback, this));
+  last_frame_sec = nh_->now().seconds();
+}
+void AvtVimbaCamera::timerCallback()
+{
+  if ( this->nh_->now().seconds() - last_frame_sec > 2)
+  {
+    RCLCPP_ERROR_STREAM(nh_->get_logger(), "Did not get frame after " << this->nh_->now().seconds() - last_frame_sec << " seconds");
+  }
 }
-
 void AvtVimbaCamera::start(const std::string& ip_str, const std::string& guid_str, const std::string& frame_id,
                            const std::string& camera_info_url)
 {
@@ -277,6 +285,7 @@ CameraPtr AvtVimbaCamera::openCamera(const std::string& id_str)
 void AvtVimbaCamera::frameCallback(const FramePtr vimba_frame_ptr)
 {
   std::unique_lock<std::mutex> lock(config_mutex_);
+  last_frame_sec = this->nh_->now().seconds();
   camera_state_ = OK;
   diagnostic_msg_ = "Camera operating normally";