diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
index 2c9bc4769c..3759f7a2ca 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
@@ -199,9 +199,16 @@ public class AprilTagFieldLayout {
    * @throws IOException If the resource could not be loaded
    */
   public static AprilTagFieldLayout loadFromResource(String resourcePath) throws IOException {
-    try (InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
-        InputStreamReader reader = new InputStreamReader(stream)) {
+    InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
+    if (stream == null) {
+      // Class.getResourceAsStream() returns null if the resource does not exist.
+      throw new IOException("Could not locate resource: " + resourcePath);
+    }
+    InputStreamReader reader = new InputStreamReader(stream);
+    try {
       return new ObjectMapper().readerFor(AprilTagFieldLayout.class).readValue(reader);
+    } catch (IOException e) {
+      throw new IOException("Failed to load AprilTagFieldLayout: " + resourcePath);
     }
   }
 
diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
index be9caecb9e..dda8d343c5 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.apriltag;
 
 import java.io.IOException;
+import java.io.UncheckedIOException;
 
 public enum AprilTagFields {
   k2022RapidReact("2022-rapidreact.json"),
@@ -25,9 +26,14 @@ public enum AprilTagFields {
    * Get a {@link AprilTagFieldLayout} from the resource JSON.
    *
    * @return AprilTagFieldLayout of the field
-   * @throws IOException If the layout does not exist
+   * @throws UncheckedIOException If the layout does not exist
    */
-  public AprilTagFieldLayout loadAprilTagLayoutField() throws IOException {
-    return AprilTagFieldLayout.loadFromResource(m_resourceFile);
+  public AprilTagFieldLayout loadAprilTagLayoutField() {
+    try {
+      return AprilTagFieldLayout.loadFromResource(m_resourceFile);
+    } catch (IOException e) {
+      throw new UncheckedIOException(
+          "Could not load AprilTagFieldLayout from " + m_resourceFile, e);
+    }
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
index 2392daf87d..ceceaf3267 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
@@ -38,7 +38,6 @@ import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import java.io.IOException;
 
 /** Represents a differential drive style drivetrain. */
 public class Drivetrain {
@@ -130,13 +129,7 @@ public class Drivetrain {
 
     m_cameraToObjectEntry = cameraToObjectTopic.getEntry(m_defaultVal);
 
-    try {
-      m_objectInField =
-          AprilTagFields.k2022RapidReact.loadAprilTagLayoutField().getTagPose(0).get();
-    } catch (IOException e) {
-      e.printStackTrace();
-      throw new RuntimeException();
-    }
+    m_objectInField = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField().getTagPose(0).get();
 
     SmartDashboard.putData("Field", m_fieldSim);
     SmartDashboard.putData("FieldEstimation", m_fieldApproximation);