diff --git a/clover/src/simple_offboard.cpp b/clover/src/simple_offboard.cpp
index 2db0a1aa..3f2a7b06 100644
--- a/clover/src/simple_offboard.cpp
+++ b/clover/src/simple_offboard.cpp
@@ -441,6 +441,10 @@ void publish(const ros::Time stamp)
 
 		// publish setpoint frame
 		if (!setpoint.child_frame_id.empty()) {
+			if (setpoint.header.stamp == position_msg.header.stamp) {
+				return; // avoid TF_REPEATED_DATA warnings
+			}
+
 			setpoint.transform.translation.x = position_msg.pose.position.x;
 			setpoint.transform.translation.y = position_msg.pose.position.y;
 			setpoint.transform.translation.z = position_msg.pose.position.z;