diff --git a/perception/bytetrack/include/bytetrack/bytetrack_visualizer_node.hpp b/perception/bytetrack/include/bytetrack/bytetrack_visualizer_node.hpp
index 56f060ecfa9d5..ae52cf0688995 100644
--- a/perception/bytetrack/include/bytetrack/bytetrack_visualizer_node.hpp
+++ b/perception/bytetrack/include/bytetrack/bytetrack_visualizer_node.hpp
@@ -31,7 +31,6 @@
 
 #include <algorithm>
 #include <memory>
-#include <stdexcept>
 #include <string>
 #include <vector>
 
@@ -54,10 +53,7 @@ class ColorMapper
 
   cv::Scalar operator()(size_t idx)
   {
-    if (kColorNum <= idx) {
-      throw std::runtime_error("idx should be between [0, 255]");
-    }
-    return color_table_.at<cv::Vec3b>(0, idx);
+    return color_table_.at<cv::Vec3b>(0, idx % kColorNum);
   }
 
 protected: