diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
index a63ac79037d..de94e697e6e 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -64,7 +64,7 @@ class BtActionNode : public BT::ActionNodeBase
     createActionClient(action_name_);
 
     // Give the derive class a chance to do any initialization
-    RCLCPP_INFO(node_->get_logger(), "\"%s\" BtActionNode initialized", xml_tag_name.c_str());
+    RCLCPP_DEBUG(node_->get_logger(), "\"%s\" BtActionNode initialized", xml_tag_name.c_str());
   }
 
   BtActionNode() = delete;
@@ -83,7 +83,7 @@ class BtActionNode : public BT::ActionNodeBase
     action_client_ = rclcpp_action::create_client<ActionT>(node_, action_name);
 
     // Make sure the server is actually there before continuing
-    RCLCPP_INFO(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
+    RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
     action_client_->wait_for_action_server();
   }
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
index 97d95b953cb..c8c3d24637f 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -59,12 +59,12 @@ class BtServiceNode : public BT::SyncActionNode
     request_ = std::make_shared<typename ServiceT::Request>();
 
     // Make sure the server is actually there before continuing
-    RCLCPP_INFO(
+    RCLCPP_DEBUG(
       node_->get_logger(), "Waiting for \"%s\" service",
       service_name_.c_str());
     service_client_->wait_for_service();
 
-    RCLCPP_INFO(
+    RCLCPP_DEBUG(
       node_->get_logger(), "\"%s\" BtServiceNode initialized",
       service_node_name_.c_str());
   }