diff --git a/simulation/traffic_simulator/src/utils/pose.cpp b/simulation/traffic_simulator/src/utils/pose.cpp
index b354ea0ea0f..c835199e777 100644
--- a/simulation/traffic_simulator/src/utils/pose.cpp
+++ b/simulation/traffic_simulator/src/utils/pose.cpp
@@ -52,7 +52,12 @@ auto canonicalize(
   if (lanelet_pose == LaneletPose()) {
     return std::nullopt;
   } else {
-    return CanonicalizedLaneletPose(lanelet_pose, hdmap_utils_ptr);
+    try {
+      return CanonicalizedLaneletPose(lanelet_pose, hdmap_utils_ptr);
+    }
+    catch(const common::SemanticError &) {
+      return std::nullopt;
+    }
   }
 }