diff --git a/action_tutorials/action_tutorials_cpp/src/fibonacci_action_client.cpp b/action_tutorials/action_tutorials_cpp/src/fibonacci_action_client.cpp
index 8ddcfc100..eec7d31f6 100644
--- a/action_tutorials/action_tutorials_cpp/src/fibonacci_action_client.cpp
+++ b/action_tutorials/action_tutorials_cpp/src/fibonacci_action_client.cpp
@@ -100,7 +100,7 @@ class FibonacciActionClient : public rclcpp::Node
     for (auto number : feedback->partial_sequence) {
       ss << number << " ";
     }
-    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
+    RCLCPP_INFO(this->get_logger(), "%s", ss.str().c_str());
   }
 
   ACTION_TUTORIALS_CPP_LOCAL
@@ -124,7 +124,7 @@ class FibonacciActionClient : public rclcpp::Node
     for (auto number : result.result->sequence) {
       ss << number << " ";
     }
-    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
+    RCLCPP_INFO(this->get_logger(), "%s", ss.str().c_str());
     rclcpp::shutdown();
   }
 };  // class FibonacciActionClient
diff --git a/demo_nodes_cpp/src/parameters/even_parameters_node.cpp b/demo_nodes_cpp/src/parameters/even_parameters_node.cpp
index 37cd4adbf..d294b4d49 100644
--- a/demo_nodes_cpp/src/parameters/even_parameters_node.cpp
+++ b/demo_nodes_cpp/src/parameters/even_parameters_node.cpp
@@ -49,11 +49,10 @@ class EvenParameterNode : public rclcpp::Node
             result.successful &= true;
           } else if (rclcpp::ParameterType::PARAMETER_INTEGER == parameter_type) {
             if (parameter.as_int() % 2 != 0) {
-              RCLCPP_INFO(
-                this->get_logger(), "Requested value '%d' for parameter '%s' "
-                "is not an even number: rejecting change...",
-                parameter.as_int(),
-                parameter.get_name().c_str()
+              RCLCPP_INFO_STREAM(
+                this->get_logger(),
+                "Requested value '" << parameter.as_int() << "' for parameter '" <<
+                  parameter.get_name() << "' is not an even number: rejecting change..."
               );
               result.successful = false;
             } else {
diff --git a/demo_nodes_cpp/src/parameters/list_parameters.cpp b/demo_nodes_cpp/src/parameters/list_parameters.cpp
index 2b89fe429..0d01d6853 100644
--- a/demo_nodes_cpp/src/parameters/list_parameters.cpp
+++ b/demo_nodes_cpp/src/parameters/list_parameters.cpp
@@ -75,7 +75,7 @@ class ListParameters : public rclcpp::Node
     for (auto & prefix : parameters_and_prefixes.prefixes) {
       ss << "\n " << prefix;
     }
-    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
+    RCLCPP_INFO(this->get_logger(), "%s", ss.str().c_str());
     rclcpp::shutdown();
   }
 };
diff --git a/demo_nodes_cpp/src/parameters/list_parameters_async.cpp b/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
index a2f3180f1..57d976376 100644
--- a/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
+++ b/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
@@ -82,7 +82,7 @@ int main(int argc, char ** argv)
   for (auto & prefix : parameter_list.prefixes) {
     ss << "\n " << prefix;
   }
-  RCLCPP_INFO(node->get_logger(), ss.str().c_str());
+  RCLCPP_INFO(node->get_logger(), "%s", ss.str().c_str());
 
   rclcpp::shutdown();
 
diff --git a/demo_nodes_cpp/src/parameters/parameter_events.cpp b/demo_nodes_cpp/src/parameters/parameter_events.cpp
index 3b7c916e6..b4382ad6b 100644
--- a/demo_nodes_cpp/src/parameters/parameter_events.cpp
+++ b/demo_nodes_cpp/src/parameters/parameter_events.cpp
@@ -40,7 +40,7 @@ void on_parameter_event(
     ss << "\n  " << deleted_parameter.name;
   }
   ss << "\n";
-  RCLCPP_INFO(logger, ss.str().c_str());
+  RCLCPP_INFO(logger, "%s", ss.str().c_str());
 }
 
 int main(int argc, char ** argv)
diff --git a/demo_nodes_cpp/src/parameters/parameter_events_async.cpp b/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
index a1f1dfaeb..30cff7fb9 100644
--- a/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
+++ b/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
@@ -57,7 +57,7 @@ class ParameterEventsAsyncNode : public rclcpp::Node
           ss << "\n  " << deleted_parameter.name;
         }
         ss << "\n";
-        RCLCPP_INFO(this->get_logger(), ss.str().c_str());
+        RCLCPP_INFO(this->get_logger(), "%s", ss.str().c_str());
       };
 
     // Setup callback for changes to parameters.
diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
index 48a81beaa..e3799c6d7 100644
--- a/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
+++ b/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
@@ -78,7 +78,7 @@ class SetAndGetParameters : public rclcpp::Node
       ss << "\nParameter value (" << parameter.get_type_name() << "): " <<
         parameter.value_to_string();
     }
-    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
+    RCLCPP_INFO(this->get_logger(), "%s", ss.str().c_str());
 
     rclcpp::shutdown();
   }
diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
index 0afa1155d..e0c7c44d7 100644
--- a/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
+++ b/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
@@ -85,7 +85,7 @@ int main(int argc, char ** argv)
     ss << "\nParameter value (" << parameter.get_type_name() << "): " <<
       parameter.value_to_string();
   }
-  RCLCPP_INFO(node->get_logger(), ss.str().c_str());
+  RCLCPP_INFO(node->get_logger(), "%s", ss.str().c_str());
 
   rclcpp::shutdown();
 
diff --git a/demo_nodes_cpp/src/services/add_two_ints_client.cpp b/demo_nodes_cpp/src/services/add_two_ints_client.cpp
index efa126592..8442801b5 100644
--- a/demo_nodes_cpp/src/services/add_two_ints_client.cpp
+++ b/demo_nodes_cpp/src/services/add_two_ints_client.cpp
@@ -65,7 +65,7 @@ int main(int argc, char ** argv)
   // TODO(wjwwood): consider error condition
   auto result = send_request(node, client, request);
   if (result) {
-    RCLCPP_INFO(node->get_logger(), "Result of add_two_ints: %zd", result->sum);
+    RCLCPP_INFO_STREAM(node->get_logger(), "Result of add_two_ints: " << result->sum);
   } else {
     RCLCPP_ERROR(node->get_logger(), "Interrupted while waiting for response. Exiting.");
   }
diff --git a/logging_demo/src/logger_config_component.cpp b/logging_demo/src/logger_config_component.cpp
index 17d49c5b4..b0c91ee1e 100644
--- a/logging_demo/src/logger_config_component.cpp
+++ b/logging_demo/src/logger_config_component.cpp
@@ -58,7 +58,7 @@ LoggerConfig::handle_logger_config_request(
   if (RCUTILS_RET_OK != ret) {
     RCLCPP_ERROR(
       this->get_logger(), "Error %d getting severity level from request: %s", ret,
-      rcl_get_error_string());
+      rcl_get_error_string().str);
     rcl_reset_error();
     response->success = false;
     return;
diff --git a/topic_statistics_demo/src/imu_talker_listener_nodes.cpp b/topic_statistics_demo/src/imu_talker_listener_nodes.cpp
index 5520b4f58..570c7e80d 100644
--- a/topic_statistics_demo/src/imu_talker_listener_nodes.cpp
+++ b/topic_statistics_demo/src/imu_talker_listener_nodes.cpp
@@ -57,7 +57,7 @@ void ImuTalker::publish()
     msg.header.stamp = this->now();
   }
 
-  RCLCPP_DEBUG(get_logger(), "Publishing header: %lu", msg.header.stamp.nanosec);
+  RCLCPP_DEBUG(get_logger(), "Publishing header: %u", msg.header.stamp.nanosec);
   publisher_->publish(msg);
 }
 
@@ -83,7 +83,7 @@ void ImuListener::start_listening()
       10,  /* QoS history_depth */
       [this](const typename sensor_msgs::msg::Imu::SharedPtr msg) -> void
       {
-        RCLCPP_DEBUG(get_logger(), "Listener heard: %lu", msg->header.stamp.nanosec);
+        RCLCPP_DEBUG(get_logger(), "Listener heard: %u", msg->header.stamp.nanosec);
       },
       subscription_options_);
   }