diff --git a/rqt_plot/src/rqt_plot/plot_widget.py b/rqt_plot/src/rqt_plot/plot_widget.py
index 7657d75c..3574c35b 100644
--- a/rqt_plot/src/rqt_plot/plot_widget.py
+++ b/rqt_plot/src/rqt_plot/plot_widget.py
@@ -191,10 +191,14 @@ def add_topic(self, topic_name):
             return
 
         self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
-        data_x, data_y = self._rosdata[topic_name].next()
-        self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
+        if self._rosdata[topic_name].error is not None:
+            qWarning(str(self._rosdata[topic_name].error))
+            del self._rosdata[topic_name]
+        else:
+            data_x, data_y = self._rosdata[topic_name].next()
+            self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
 
-        self._subscribed_topics_changed()
+            self._subscribed_topics_changed()
 
     def remove_topic(self, topic_name):
         self._rosdata[topic_name].close()
diff --git a/rqt_plot/src/rqt_plot/rosplot.py b/rqt_plot/src/rqt_plot/rosplot.py
index 8b1515d3..75f0e2b8 100644
--- a/rqt_plot/src/rqt_plot/rosplot.py
+++ b/rqt_plot/src/rqt_plot/rosplot.py
@@ -84,13 +84,6 @@ def get_topic_type(topic):
     if topic_type:
         return topic_type, real_topic, rest
     else:
-        print >> sys.stderr, "WARNING: topic [%s] does not appear to be published yet. Waiting..." % topic
-        while not rospy.is_shutdown():
-            topic_type, real_topic, rest = _get_topic_type(topic)
-            if topic_type:
-                return topic_type, real_topic, rest
-            else:
-                time.sleep(0.1)
         return None, None, None
 
 
@@ -109,9 +102,12 @@ def __init__(self, topic, start_time):
         self.buff_y = []
 
         topic_type, real_topic, fields = get_topic_type(topic)
-        self.field_evals = generate_field_evals(fields)
-        data_class = roslib.message.get_message_class(topic_type)
-        self.sub = rospy.Subscriber(real_topic, data_class, self._ros_cb)
+        if topic_type is not None:
+            self.field_evals = generate_field_evals(fields)
+            data_class = roslib.message.get_message_class(topic_type)
+            self.sub = rospy.Subscriber(real_topic, data_class, self._ros_cb)
+        else:
+            self.error = RosPlotException("Can not resolve topic type of %s" % topic)
 
     def close(self):
         self.sub.unregister()