diff --git a/joint_state_publisher/joint_state_publisher/joint_state_publisher b/joint_state_publisher/joint_state_publisher/joint_state_publisher
index 7badd65..4ac5008 100755
--- a/joint_state_publisher/joint_state_publisher/joint_state_publisher
+++ b/joint_state_publisher/joint_state_publisher/joint_state_publisher
@@ -238,7 +238,10 @@ class JointStatePublisher():
                     msg.effort[i] = joint['effort']
 
             self.pub.publish(msg)
-            r.sleep()
+            try:
+                r.sleep()
+            except rospy.exceptions.ROSTimeMovedBackwardsException:
+                pass
 
     def update(self, delta):
         for name, joint in self.free_joints.iteritems():