diff --git a/perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp b/perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp
index 3baefaa43163a..f76501cbfe85a 100644
--- a/perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp
+++ b/perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp
@@ -111,7 +111,8 @@ void TrafficLightArbiter::arbitrateAndPublish(const builtin_interfaces::msg::Tim
   std::unordered_map<lanelet::Id, std::vector<ElementAndPriority>> regulatory_element_signals_map;
 
   if (map_regulatory_elements_set_ == nullptr) {
-    RCLCPP_WARN(get_logger(), "Received traffic signal messages before a map");
+    RCLCPP_WARN_THROTTLE(
+      get_logger(), *get_clock(), 5000, "Received traffic signal messages before a map");
     return;
   }
 
@@ -126,8 +127,9 @@ void TrafficLightArbiter::arbitrateAndPublish(const builtin_interfaces::msg::Tim
   auto add_signal_function = [&](const auto & signal, bool priority) {
     const auto id = signal.traffic_signal_id;
     if (!map_regulatory_elements_set_->count(id)) {
-      RCLCPP_WARN(
-        get_logger(), "Received a traffic signal not present in the current map (%lu)", id);
+      RCLCPP_WARN_THROTTLE(
+        get_logger(), *get_clock(), 5000,
+        "Received a traffic signal not present in the current map (%lu)", id);
       return;
     }