diff --git a/src/systems/trajectory_follower/TrajectoryFollower.cc b/src/systems/trajectory_follower/TrajectoryFollower.cc
index 8366c6065d..3b1ea70dda 100644
--- a/src/systems/trajectory_follower/TrajectoryFollower.cc
+++ b/src/systems/trajectory_follower/TrajectoryFollower.cc
@@ -324,6 +324,7 @@ void TrajectoryFollower::PreUpdate(
     // We call Load here instead of Configure because we can't be guaranteed
     // that all entities have been created when Configure is called
     this->dataPtr->Load(_ecm, this->dataPtr->sdfConfig);
+    enableComponent<components::WorldPose>(_ecm, this->dataPtr->link.Entity());
     this->dataPtr->initialized = true;
   }
 
@@ -379,6 +380,12 @@ void TrajectoryFollower::PreUpdate(
 
   // Transform from world to local frame.
   auto comPose = this->dataPtr->link.WorldInertialPose(_ecm);
+  if (!comPose.has_value())
+  {
+    ignerr << "Failed to get CoM pose for link ["
+           << this->dataPtr->link.Entity() << "]" << std::endl;
+    return;
+  }
 
   // Transform the force and torque to the world frame.
   // Move commands. The vehicle always move forward (X direction).