diff --git a/clients/rospy/src/rospy/timer.py b/clients/rospy/src/rospy/timer.py
index e495bf1a4d..62f2a24282 100644
--- a/clients/rospy/src/rospy/timer.py
+++ b/clients/rospy/src/rospy/timer.py
@@ -226,6 +226,9 @@ def run(self):
         while not rospy.core.is_shutdown() and not self._shutdown:
             try:
                 r.sleep()
+            except rospy.exceptions.ROSTimeMovedBackwardsException:
+                # avoid killing the timer just because a rosbag looped
+                pass
             except rospy.exceptions.ROSInterruptException as e:
                 if rospy.core.is_shutdown():
                     break