diff --git a/tf2/src/buffer_core.cpp b/tf2/src/buffer_core.cpp
index 0ecc350b0..7bf26e60d 100644
--- a/tf2/src/buffer_core.cpp
+++ b/tf2/src/buffer_core.cpp
@@ -30,6 +30,7 @@
 
 #include <algorithm>
 #include <cassert>
+#include <cstring>
 #include <map>
 #include <mutex>
 #include <string>
@@ -177,7 +178,7 @@ CompactFrameID BufferCore::validateFrameId(
   }
 
   CompactFrameID id = lookupFrameNumber(frame_id);
-  if (id == 0) {
+  if (id == 0 && strstr(function_name_arg, "canTransform") == nullptr) {
     fillOrWarnMessageForInvalidFrame(
       function_name_arg, frame_id, error_msg, "frame does not exist");
   }