diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index dc1555b698..846dc2aa42 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -192,7 +192,7 @@ controller_interface::return_type DiffDriveController::update()
 
       if (std::isnan(left_position) || std::isnan(right_position)) {
         RCLCPP_ERROR(
-          logger, "Either the left or right wheel position is invalid for index [%d]",
+          logger, "Either the left or right wheel position is invalid for index [%zu]",
           index);
         return controller_interface::return_type::ERROR;
       }
@@ -285,7 +285,7 @@ CallbackReturn DiffDriveController::on_configure(const rclcpp_lifecycle::State &
   if (left_wheel_names_.size() != right_wheel_names_.size()) {
     RCLCPP_ERROR(
       logger,
-      "The number of left wheels [%d] and the number of right wheels [%d] are different",
+      "The number of left wheels [%zu] and the number of right wheels [%zu] are different",
       left_wheel_names_.size(),
       right_wheel_names_.size());
     return CallbackReturn::ERROR;
@@ -575,9 +575,7 @@ CallbackReturn DiffDriveController::configure_side(
   auto logger = node_->get_logger();
 
   if (wheel_names.empty()) {
-    std::stringstream ss;
-    ss << "No " << side << " wheel names specified.";
-    RCLCPP_ERROR(logger, ss.str().c_str());
+    RCLCPP_ERROR(logger, "No '%s' wheel names specified", side.c_str());
     return CallbackReturn::ERROR;
   }
 
diff --git a/forward_command_controller/src/forward_command_controller.cpp b/forward_command_controller/src/forward_command_controller.cpp
index 5d79a2870d..cfbe66b479 100644
--- a/forward_command_controller/src/forward_command_controller.cpp
+++ b/forward_command_controller/src/forward_command_controller.cpp
@@ -82,7 +82,7 @@ CallbackReturn ForwardCommandController::on_configure(
       rt_command_ptr_.writeFromNonRT(msg);
     });
 
-  RCLCPP_INFO_STREAM(get_node()->get_logger(), "configure successful");
+  RCLCPP_INFO(get_node()->get_logger(), "configure successful");
   return CallbackReturn::SUCCESS;
 }
 
@@ -138,7 +138,7 @@ CallbackReturn ForwardCommandController::on_activate(
   {
     RCLCPP_ERROR(
       node_->get_logger(),
-      "Expected %u position command interfaces, got %u",
+      "Expected %zu position command interfaces, got %zu",
       joint_names_.size(), ordered_interfaces.size());
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
   }
@@ -162,12 +162,11 @@ controller_interface::return_type ForwardCommandController::update()
   }
 
   if ((*joint_commands)->data.size() != command_interfaces_.size()) {
-    RCLCPP_ERROR_STREAM_THROTTLE(
+    RCLCPP_ERROR_THROTTLE(
       get_node()->get_logger(),
       *node_->get_clock(), 1000,
-      "command size (" << (*joint_commands)->data.size() <<
-        ") does not match number of interfaces (" <<
-        command_interfaces_.size() << ")");
+      "command size (%zu) does not match number of interfaces (%zu)",
+      (*joint_commands)->data.size(), command_interfaces_.size());
     return controller_interface::return_type::ERROR;
   }
 
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
index fbe96fea51..7bb47f445a 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
@@ -166,24 +166,27 @@ inline bool check_state_tolerance_per_joint(
 
   if (show_errors) {
     const auto logger = rclcpp::get_logger("tolerances");
-    RCLCPP_ERROR_STREAM(logger, "Path state tolerances failed:");
+    RCLCPP_ERROR(logger, "Path state tolerances failed:");
 
     if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position) {
-      RCLCPP_ERROR_STREAM(
-        logger, "Position Error: " << error_position <<
-          " Position Tolerance: " << state_tolerance.position);
+      RCLCPP_ERROR(
+        logger,
+        "Position Error: %f, Position Tolerance: %f",
+        error_position, state_tolerance.position);
     }
     if (state_tolerance.velocity > 0.0 && abs(error_velocity) > state_tolerance.velocity) {
-      RCLCPP_ERROR_STREAM(
-        logger, "Velocity Error: " << error_velocity <<
-          " Velocity Tolerance: " << state_tolerance.velocity);
+      RCLCPP_ERROR(
+        logger,
+        "Velocity Error: %f, Velocity Tolerance: %f",
+        error_velocity, state_tolerance.velocity);
     }
     if (state_tolerance.acceleration > 0.0 &&
       abs(error_acceleration) > state_tolerance.acceleration)
     {
-      RCLCPP_ERROR_STREAM(
-        logger, "Acceleration Error: " << error_acceleration <<
-          " Acceleration Tolerance: " << state_tolerance.acceleration);
+      RCLCPP_ERROR(
+        logger,
+        "Acceleration Error: %f, Acceleration Tolerance: %f",
+        error_acceleration, state_tolerance.acceleration);
     }
   }
   return false;
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index f91b2cbabb..9f8e8b2c6f 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -299,9 +299,10 @@ JointTrajectoryController::on_configure(const rclcpp_lifecycle::State &)
   // State publisher
   const double state_publish_rate =
     node_->get_parameter("state_publish_rate").get_value<double>();
-  RCLCPP_INFO_STREAM(
-    logger, "Controller state will be published at " <<
-      state_publish_rate << "Hz.");
+  RCLCPP_INFO(
+    logger,
+    "Controller state will be published at %fHz.",
+    state_publish_rate);
   if (state_publish_rate > 0.0) {
     state_publisher_period_ =
       rclcpp::Duration::from_seconds(1.0 / state_publish_rate);
@@ -338,9 +339,10 @@ JointTrajectoryController::on_configure(const rclcpp_lifecycle::State &)
   const double action_monitor_rate = node_->get_parameter("action_monitor_rate")
     .get_value<double>();
 
-  RCLCPP_INFO_STREAM(
-    logger, "Action status changes will be monitored at " <<
-      action_monitor_rate << "Hz.");
+  RCLCPP_INFO(
+    logger,
+    "Action status changes will be monitored at %fHz.",
+    action_monitor_rate);
   action_monitor_period_ = rclcpp::Duration::from_seconds(1.0 / action_monitor_rate);
 
   using namespace std::placeholders;
@@ -387,7 +389,7 @@ JointTrajectoryController::on_activate(const rclcpp_lifecycle::State &)
   {
     RCLCPP_ERROR(
       node_->get_logger(),
-      "Expected %u position command interfaces, got %u",
+      "Expected %zu position command interfaces, got %zu",
       joint_names_.size(), joint_position_command_interface_.size());
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
   }
@@ -397,7 +399,7 @@ JointTrajectoryController::on_activate(const rclcpp_lifecycle::State &)
   {
     RCLCPP_ERROR(
       node_->get_logger(),
-      "Expected %u position state interfaces, got %u",
+      "Expected %zu position state interfaces, got %zu",
       joint_names_.size(), joint_position_state_interface_.size());
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
   }
@@ -407,7 +409,7 @@ JointTrajectoryController::on_activate(const rclcpp_lifecycle::State &)
   {
     RCLCPP_ERROR(
       node_->get_logger(),
-      "Expected %u velocity state interfaces, got %u",
+      "Expected %zu velocity state interfaces, got %zu",
       joint_names_.size(), joint_velocity_state_interface_.size());
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
   }
@@ -656,7 +658,8 @@ void JointTrajectoryController::sort_to_local_joint_order(
       if (to_remap.size() != mapping.size()) {
         RCLCPP_WARN(
           node_->get_logger(),
-          "Invalid input size (%d) for sorting", to_remap.size());
+          "Invalid input size (%zu) for sorting",
+          to_remap.size());
         return to_remap;
       }
       std::vector<double> output;
@@ -694,7 +697,7 @@ bool JointTrajectoryController::validate_trajectory_point_field(
   if (joint_names_size != vector_field.size()) {
     RCLCPP_ERROR(
       node_->get_logger(),
-      "Mismatch between joint_names (%u) and %s (%u) at point #%u.",
+      "Mismatch between joint_names (%zu) and %s (%zu) at point #%zu.",
       joint_names_size, string_for_vector_field.c_str(), vector_field.size(), i);
     return false;
   }
@@ -758,7 +761,7 @@ bool JointTrajectoryController::validate_trajectory_msg(
     if ((i > 0) && (rclcpp::Duration(trajectory.points[i].time_from_start) <= previous_traj_time)) {
       RCLCPP_ERROR(
         node_->get_logger(),
-        "Time between points %u and %u is not strictly increasing, it is %f and %f respectively",
+        "Time between points %zu and %zu is not strictly increasing, it is %f and %f respectively",
         i - 1, i, previous_traj_time.seconds(),
         rclcpp::Duration(trajectory.points[i].time_from_start).seconds());
       return false;