diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 3ebc1a9a14..eb79eefc19 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -443,17 +443,15 @@ controller_interface::return_type ControllerManager::switch_controller(
     auto handle_conflict = [&](const std::string & msg)
       {
         if (strictness == controller_manager_msgs::srv::SwitchController::Request::STRICT) {
-          RCLCPP_ERROR_STREAM(
-            get_logger(),
-            msg);
+          RCLCPP_ERROR(get_logger(), "%s", msg.c_str());
           stop_request_.clear();
           start_request_.clear();
           return controller_interface::return_type::ERROR;
         }
-        RCLCPP_DEBUG_STREAM(
+        RCLCPP_DEBUG(
           get_logger(),
-          "Could not stop controller '" << controller.info.name <<
-            "' since it is not running");
+          "Could not stop controller '%s' since it is not running",
+          controller.info.name.c_str());
         return controller_interface::return_type::OK;
       };
     if (!is_running && in_stop_list) {      // check for double stop
@@ -745,7 +743,7 @@ void ControllerManager::list_controller_types_srv_cb(
   for (const auto & cur_type : cur_types) {
     response->types.push_back(cur_type);
     response->base_classes.push_back(kControllerInterface);
-    RCLCPP_DEBUG_STREAM(get_logger(), cur_type);
+    RCLCPP_DEBUG(get_logger(), "%s", cur_type.c_str());
   }
 
   RCLCPP_DEBUG(get_logger(), "list types service finished");
diff --git a/joint_limits_interface/include/joint_limits_interface/joint_limits_rosparam.hpp b/joint_limits_interface/include/joint_limits_interface/joint_limits_rosparam.hpp
index b83114fdd5..473b72e514 100644
--- a/joint_limits_interface/include/joint_limits_interface/joint_limits_rosparam.hpp
+++ b/joint_limits_interface/include/joint_limits_interface/joint_limits_rosparam.hpp
@@ -84,14 +84,17 @@ inline bool getJointLimits(
       !node->has_parameter(param_base_name + ".soft_lower_limit") &&
       !node->has_parameter(param_base_name + ".soft_upper_limit"))
     {
-      RCLCPP_ERROR_STREAM(
-        node->get_logger(), "No joint limits specification found for joint '" << joint_name <<
-          "' in the parameter server (node: " << std::string(
-          node->get_name()) + " param name: " + param_base_name << ").");
+      RCLCPP_ERROR(
+        node->get_logger(),
+        "No joint limits specification found for joint '%s' in the parameter server "
+        "(node: %s param name: %s).",
+        joint_name.c_str(),
+        node->get_name(),
+        param_base_name.c_str());
       return false;
     }
   } catch (const std::exception & ex) {
-    RCLCPP_ERROR_STREAM(node->get_logger(), ex.what());
+    RCLCPP_ERROR(node->get_logger(), "%s", ex.what());
     return false;
   }
 
@@ -200,14 +203,17 @@ inline bool getSoftJointLimits(
       !node->has_parameter(param_base_name + ".soft_lower_limit") &&
       !node->has_parameter(param_base_name + ".soft_upper_limit"))
     {
-      RCLCPP_DEBUG_STREAM(
-        node->get_logger(), "No soft joint limits specification found for joint '" << joint_name <<
-          "' in the parameter server (node: " << std::string(
-          node->get_name()) + " param name: " + param_base_name << ").");
+      RCLCPP_DEBUG(
+        node->get_logger(),
+        "No soft joint limits specification found for joint '%s' in the parameter server "
+        "(node: %s param name: %s).",
+        joint_name.c_str(),
+        node->get_name(),
+        param_base_name.c_str());
       return false;
     }
   } catch (const std::exception & ex) {
-    RCLCPP_ERROR_STREAM(node->get_logger(), ex.what());
+    RCLCPP_ERROR(node->get_logger(), "%s", ex.what());
     return false;
   }
 
diff --git a/joint_limits_interface/test/joint_limits_interface_test.cpp b/joint_limits_interface/test/joint_limits_interface_test.cpp
index 23226773a6..7d14410c9d 100644
--- a/joint_limits_interface/test/joint_limits_interface_test.cpp
+++ b/joint_limits_interface/test/joint_limits_interface_test.cpp
@@ -538,7 +538,7 @@ class JointLimitsInterfaceTest : public JointLimitsTest, public ::testing::Test
 //   try {
 //     iface.getHandle("unknown_name");
 //   } catch (const JointLimitsInterfaceException & e) {
-//     ROS_ERROR_STREAM(e.what());
+//     ROS_ERROR("%s", e.what());
 //   }
 //
 //   // Enforce limits of all managed joints