diff --git a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp
index bbab80b855620..d2d431c5cc7a7 100644
--- a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp
@@ -80,6 +80,9 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio
     p.max_y = static_cast<float>(declare_parameter("max_y", 1.0));
     p.max_z = static_cast<float>(declare_parameter("max_z", 1.0));
     p.negative = static_cast<float>(declare_parameter("negative", false));
+    if (tf_input_frame_.empty()) {
+      throw std::invalid_argument("Crop box requires non-empty input_frame");
+    }
   }
 
   // set additional publishers