diff --git a/jsk_rviz_plugins/src/bounding_box_display_common.h b/jsk_rviz_plugins/src/bounding_box_display_common.h
index af6fdf67..d309cac5 100644
--- a/jsk_rviz_plugins/src/bounding_box_display_common.h
+++ b/jsk_rviz_plugins/src/bounding_box_display_common.h
@@ -217,7 +217,7 @@ namespace jsk_rviz_plugins
         Ogre::Vector3 position;
         Ogre::Quaternion orientation;
         if(!this->context_->getFrameManager()->transform(
-            box.header, box.pose, position, orientation)) {
+            box.header.frame_id, msg->header.stamp, box.pose, position, orientation)) {
           std::ostringstream oss;
           oss << "Error transforming pose";
           oss << " from frame '" << box.header.frame_id << "'";
@@ -279,7 +279,7 @@ namespace jsk_rviz_plugins
         edge->clear();
         Ogre::Vector3 position;
         Ogre::Quaternion quaternion;
-        if(!this->context_->getFrameManager()->transform(box.header, box.pose,
+        if(!this->context_->getFrameManager()->transform(box.header.frame_id, msg->header.stamp, box.pose,
                                                   position,
                                                   quaternion)) {
           std::ostringstream oss;
@@ -369,7 +369,7 @@ namespace jsk_rviz_plugins
         Ogre::Vector3 position;
         Ogre::Quaternion orientation;
         if(!this->context_->getFrameManager()->getTransform(
-            box.header, position, orientation)) {
+            box.header.frame_id, msg->header.stamp, position, orientation)) {
           ROS_DEBUG("Error transforming from frame '%s' to frame '%s'",
                     box.header.frame_id.c_str(), qPrintable(this->fixed_frame_));
           return;