diff --git a/rosbag2_transport/src/rosbag2_transport/player_progress_bar_impl.hpp b/rosbag2_transport/src/rosbag2_transport/player_progress_bar_impl.hpp
index 279293291..0542dee53 100644
--- a/rosbag2_transport/src/rosbag2_transport/player_progress_bar_impl.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/player_progress_bar_impl.hpp
@@ -134,13 +134,12 @@ class PlayerProgressBarImpl {
     ss <<
         // Clear and print newlines
       progress_bar_helper_clear_and_move_cursor_down_ <<
-        // Print progress bar
-      "====== Playback Progress ======\n" <<
+      // Print progress bar
+      // Use "\033[2K" ANSI control code to clear an entire line in the terminal before output.
+      "\033[2K====== Playback Progress ======\n\033[2K" <<
       "[" << std::fixed << std::setprecision(9) << progress_current_time_secs_ <<
       "] Duration " << std::setprecision(2) << progress_secs_from_start_ <<
-        // Spaces at the end are used to clear any previous progress bar in case the new one is
-        // shorter, which can happen when the playback starts a new loop.
-      "/" << duration_secs_ << " [" << static_cast<char>(status) << "]      \n" <<
+      "/" << duration_secs_ << " [" << static_cast<char>(status) << "]\n" <<
         // Go up to the beginning of the blank lines
       progress_bar_helper_move_cursor_up_;
     o_stream_ << ss.rdbuf() << std::flush;
diff --git a/rosbag2_transport/test/rosbag2_transport/test_player_progress_bar.cpp b/rosbag2_transport/test/rosbag2_transport/test_player_progress_bar.cpp
index c81b84a05..bf760aaa2 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_player_progress_bar.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_player_progress_bar.cpp
@@ -73,8 +73,8 @@ TEST_F(TestPlayerProgressBar, can_dtor_after_output) {
   }
   EXPECT_THAT(oss.str(),
     MatchesRegex(
-      "====== Playback Progress ======\n"
-      "\\[1000000000.000000000\\] Duration 0\\.00/1000000000\\.00 \\[D\\].*"
+      "\033\\[2K====== Playback Progress ======\n\033\\[2K"
+      "\\[1000000000.000000000\\] Duration 0\\.00/1000000000\\.00 \\[D\\]\n.*"
     )
   );
 }
@@ -124,10 +124,10 @@ TEST_F(TestPlayerProgressBar, update_status_with_enabled_progress_bar) {
     progress_bar->update(PlayerProgressBar::PlayerStatus::STOPPED);
     EXPECT_THAT(oss.str(),
       MatchesRegex(
-        ".*====== Playback Progress ======\n"
+        ".*\033\\[2K====== Playback Progress ======\n\033\\[2K"
         "\\[0\\.000000000\\] Duration 0\\.00/0\\.00 \\[R\\].*"
-        ".*====== Playback Progress ======\n"
-        "\\[0\\.000000000\\] Duration 0\\.00/0\\.00 \\[S\\].*"
+        ".*\033\\[2K====== Playback Progress ======\n\033\\[2K"
+        "\\[0\\.000000000\\] Duration 0\\.00/0\\.00 \\[S\\]\n.*"
       )
     );
   }
@@ -257,11 +257,11 @@ TEST_F(TestPlayerProgressBar, update_with_limited_rate_respect_update_rate) {
   // Check if the progress bar is updated at the correct 3 timestamps
   EXPECT_THAT(oss.str(),
     MatchesRegex(
-      ".*====== Playback Progress ======\n"
+      ".*\033\\[2K====== Playback Progress ======\n\033\\[2K"
       "\\[1\\.000000000\\] Duration 0\\.00/5\\.00"
-      ".*====== Playback Progress ======\n"
+      ".*\033\\[2K====== Playback Progress ======\n\033\\[2K"
       "\\[1\\.325000000\\] Duration 0\\.32/5\\.00"
-      ".*====== Playback Progress ======\n"
+      ".*\033\\[2K====== Playback Progress ======\n\033\\[2K"
       "\\[1\\.700000000\\] Duration 0\\.70/5\\.00.*"
     )
   );
@@ -317,7 +317,7 @@ TEST_F(TestPlayerProgressBar, update_with_limited_rate_with_zero_timestamp) {
 
   EXPECT_THAT(oss.str(),
     MatchesRegex(
-      ".*====== Playback Progress ======\n"
+      ".*\033\\[2K====== Playback Progress ======\n\033\\[2K"
       "\\[0\\.000000000\\] Duration -1\\.00/5\\.00.*"
     )
   );