diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index cc99e323ff..e5e3587a66 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -245,7 +245,7 @@ AmclNode::waitForTransforms()
   while (rclcpp::ok() &&
     !tf_buffer_->canTransform(
       global_frame_id_, odom_frame_id_, tf2::TimePointZero,
-      tf2::durationFromSec(1.0), &tf_error))
+      transform_tolerance_, &tf_error))
   {
     RCLCPP_INFO(
       get_logger(), "Timed out waiting for transform from %s to %s"
@@ -749,7 +749,7 @@ bool AmclNode::addNewScanner(
   ident.header.stamp = rclcpp::Time();
   tf2::toMsg(tf2::Transform::getIdentity(), ident.pose);
   try {
-    tf_buffer_->transform(ident, laser_pose, base_frame_id_);
+    tf_buffer_->transform(ident, laser_pose, base_frame_id_, transform_tolerance_);
   } catch (tf2::TransformException & e) {
     RCLCPP_ERROR(
       get_logger(), "Couldn't transform from %s to %s, "
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.hpp
index 05a5185583..f6f01e8c56 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.hpp
@@ -110,6 +110,7 @@ class StaticLayer : public CostmapLayer
   unsigned char unknown_cost_value_;
   bool trinary_costmap_;
   bool map_received_{false};
+  tf2::Duration transform_tolerance_;
 };
 
 }  // namespace nav2_costmap_2d
diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
index f84d8d1f40..f0f088cbec 100644
--- a/nav2_costmap_2d/plugins/static_layer.cpp
+++ b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -117,10 +117,12 @@ void
 StaticLayer::getParameters()
 {
   int temp_lethal_threshold = 0;
+  double temp_tf_tol;
 
   declareParameter("enabled", rclcpp::ParameterValue(true));
   declareParameter("subscribe_to_updates", rclcpp::ParameterValue(false));
   declareParameter("map_subscribe_transient_local", rclcpp::ParameterValue(true));
+  declareParameter("transform_tolerance", rclcpp::ParameterValue(0.0));
 
   node_->get_parameter(name_ + "." + "enabled", enabled_);
   node_->get_parameter(name_ + "." + "subscribe_to_updates", subscribe_to_updates_);
@@ -133,10 +135,13 @@ StaticLayer::getParameters()
   node_->get_parameter("lethal_cost_threshold", temp_lethal_threshold);
   node_->get_parameter("unknown_cost_value", unknown_cost_value_);
   node_->get_parameter("trinary_costmap", trinary_costmap_);
+  node_->get_parameter("transform_tolerance", temp_tf_tol);
 
   // Enforce bounds
   lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);
   map_received_ = false;
+
+  transform_tolerance_ = tf2::durationFromSec(temp_tf_tol);
 }
 
 void
@@ -359,7 +364,9 @@ StaticLayer::updateCosts(
     // Might even be in a different frame
     geometry_msgs::msg::TransformStamped transform;
     try {
-      transform = tf_->lookupTransform(map_frame_, global_frame_, tf2::TimePointZero);
+      transform = tf_->lookupTransform(
+        map_frame_, global_frame_, tf2::TimePointZero,
+        transform_tolerance_);
     } catch (tf2::TransformException & ex) {
       RCLCPP_ERROR(node_->get_logger(), "StaticLayer: %s", ex.what());
       return;
diff --git a/nav2_costmap_2d/src/observation_buffer.cpp b/nav2_costmap_2d/src/observation_buffer.cpp
index 4a4ec21138..f87d59bc25 100644
--- a/nav2_costmap_2d/src/observation_buffer.cpp
+++ b/nav2_costmap_2d/src/observation_buffer.cpp
@@ -95,11 +95,12 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
       origin.point = obs.origin_;
 
       // we need to transform the origin of the observation to the new global frame
-      tf2_buffer_.transform(origin, origin, new_global_frame);
+      tf2_buffer_.transform(origin, origin, new_global_frame, tf2::durationFromSec(tf_tolerance_));
       obs.origin_ = origin.point;
 
       // we also need to transform the cloud of the observation to the new global frame
-      tf2_buffer_.transform(*(obs.cloud_), *(obs.cloud_), new_global_frame);
+      tf2_buffer_.transform(
+        *(obs.cloud_), *(obs.cloud_), new_global_frame, tf2::durationFromSec(tf_tolerance_));
     } catch (tf2::TransformException & ex) {
       RCLCPP_ERROR(
         rclcpp::get_logger(
diff --git a/nav2_system_tests/src/system/test_multi_robot_launch.py b/nav2_system_tests/src/system/test_multi_robot_launch.py
index 5adfa97f17..6f6f9f2e5e 100755
--- a/nav2_system_tests/src/system/test_multi_robot_launch.py
+++ b/nav2_system_tests/src/system/test_multi_robot_launch.py
@@ -41,9 +41,9 @@ def generate_launch_description():
 
     bringup_dir = get_package_share_directory('nav2_bringup')
     robot1_params_file = os.path.join(bringup_dir,  # noqa: F841
-        'params/nav2_multirobot_params_1.yaml')
+                                      'params/nav2_multirobot_params_1.yaml')
     robot2_params_file = os.path.join(bringup_dir,  # noqa: F841
-        'params/nav2_multirobot_params_2.yaml')
+                                      'params/nav2_multirobot_params_2.yaml')
 
     # Names and poses of the robots
     robots = [