diff --git a/src/ros_filter.cpp b/src/ros_filter.cpp
index 54a29277..be89e1af 100644
--- a/src/ros_filter.cpp
+++ b/src/ros_filter.cpp
@@ -348,7 +348,7 @@ void RosFilter<T>::controlStampedCallback(
     filter_.setControl(latest_control_, msg->header.stamp);
   } else {
     RCLCPP_WARN_STREAM_THROTTLE(
-      get_logger(), *get_clock(), 5.0, "Commanded velocities "
+      get_logger(), *get_clock(), 5000, "Commanded velocities "
       " must be given in the robot's body frame (" << base_link_frame_id_ <<
         "). Message frame was " << msg->header.frame_id);
   }
@@ -2221,7 +2221,7 @@ void RosFilter<T>::periodicUpdate()
           RCLCPP_ERROR_STREAM_SKIPFIRST_THROTTLE(
             get_logger(),
             *get_clock(),
-            5.0,
+            5000,
             "Could not obtain transform from " << odom_frame_id_ << "->" << base_link_frame_id_);
         }
       } else {
diff --git a/src/ros_filter_utilities.cpp b/src/ros_filter_utilities.cpp
index 24e95dbf..1c547a11 100644
--- a/src/ros_filter_utilities.cpp
+++ b/src/ros_filter_utilities.cpp
@@ -49,15 +49,6 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2_ros/buffer.h"
 
-#define THROTTLE(clock, duration, thing) do { \
-    static rclcpp::Time _last_output_time ## __LINE__(0, 0, (clock)->get_clock_type()); \
-    auto _now = (clock)->now(); \
-    if (_now - _last_output_time ## __LINE__ > (duration)) { \
-      _last_output_time ## __LINE__ = _now; \
-      thing; \
-    } \
-} while (0)
-
 std::ostream & operator<<(std::ostream & os, const tf2::Vector3 & vec)
 {
   os << "(" << std::setprecision(20) << vec.getX() << " " << vec.getY() << " " <<
diff --git a/src/ros_robot_localization_listener.cpp b/src/ros_robot_localization_listener.cpp
index e745670b..e5083708 100644
--- a/src/ros_robot_localization_listener.cpp
+++ b/src/ros_robot_localization_listener.cpp
@@ -51,15 +51,6 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "yaml-cpp/yaml.h"
 
-#define THROTTLE(clock, duration, thing) do { \
-    static rclcpp::Time _last_output_time ## __LINE__(0, 0, (clock)->get_clock_type()); \
-    auto _now = (clock)->now(); \
-    if (_now - _last_output_time ## __LINE__ > (duration)) { \
-      _last_output_time ## __LINE__ = _now; \
-      thing; \
-    } \
-} while (0)
-
 namespace robot_localization
 {
 FilterTypes::FilterType filterTypeFromString(
@@ -165,14 +156,11 @@ RosRobotLocalizationListener::RosRobotLocalizationListener(
   // Wait until the base and world frames are set by the incoming messages
   while (rclcpp::ok() && base_frame_id_.empty()) {
     rclcpp::spin_some(node);
-    // TODO(ros2/rclcpp#879) RCLCPP_THROTTLE_INFO() when released
-    THROTTLE(
-      node->get_clock(), std::chrono::seconds(1),
-      RCLCPP_INFO(
-        node_logger_->get_logger(),
-        "Ros Robot Localization Listener: Waiting for incoming messages on "
-        "topics %s and %s",
-        odom_sub_.getTopic().c_str(), accel_sub_.getTopic().c_str()));
+    RCLCPP_INFO_THROTTLE(
+      node_logger_->get_logger(), *node->get_clock(), 1000,
+      "Ros Robot Localization Listener: Waiting for incoming messages on "
+      "topics %s and %s",
+      odom_sub_.getTopic().c_str(), accel_sub_.getTopic().c_str());
     rclcpp::Rate(10).sleep();
   }
 }