diff --git a/src/triton_gazebo/src/thruster_driver_plugin.cpp b/src/triton_gazebo/src/thruster_driver_plugin.cpp
index cb2eadd8..e5945931 100644
--- a/src/triton_gazebo/src/thruster_driver_plugin.cpp
+++ b/src/triton_gazebo/src/thruster_driver_plugin.cpp
@@ -29,8 +29,7 @@ namespace triton_gazebo
                             this->topic_name, 
                             10, 
                             std::bind(&ThrusterDriver::GetForceCmd, this, _1));
-
-        RCLCPP_INFO(node->get_logger(), "Listening on " + this->topic_name + "\n");
+        RCLCPP_INFO(node->get_logger(), "Listening on %s", this->topic_name.c_str());
 
         std::string model_name = _model->GetName();
 
@@ -39,7 +38,7 @@ namespace triton_gazebo
             std::string thruster_name = model_name + "::thruster" + std::to_string(i) + "::thruster";
             this->thruster.push_back(_model->GetLink(thruster_name));
 
-            RCLCPP_INFO(this->node->get_logger(), this->thruster[i-1]->GetName());
+            RCLCPP_INFO(this->node->get_logger(), this->thruster[i-1]->GetName().c_str());
         }
     
         this->updateConnection_ = gazebo::event::Events::ConnectWorldUpdateBegin(
diff --git a/src/triton_gazebo/src/underwater_camera.cpp b/src/triton_gazebo/src/underwater_camera.cpp
index a333827b..e0dfcb1f 100644
--- a/src/triton_gazebo/src/underwater_camera.cpp
+++ b/src/triton_gazebo/src/underwater_camera.cpp
@@ -236,7 +236,7 @@ namespace triton_gazebo
         underwater_image_pub_.publish(message);
 
         auto runtime = this->get_clock()->now() - timer;
-        RCLCPP_INFO(this->get_logger(),"Processing took: "+ std::to_string(runtime.seconds()) + "s");
+        RCLCPP_INFO(this->get_logger(), "Processing took: %lfs", runtime.seconds());
     }
 
 } // namespace triton_gazebo
diff --git a/src/triton_object_recognition/src/object_recognizer.cpp b/src/triton_object_recognition/src/object_recognizer.cpp
index d48f8891..1e27aeef 100644
--- a/src/triton_object_recognition/src/object_recognizer.cpp
+++ b/src/triton_object_recognition/src/object_recognizer.cpp
@@ -76,7 +76,7 @@ namespace triton_object_recognition
         //Check cfg file exists and downloads if it doesn't
         boost::filesystem::path model_config = model_folder / cfg_filename_;
         if (!boost::filesystem::exists(model_config)){
-            RCLCPP_WARN(get_logger(),"Model config not found. Downloading from " + cfg_url_);
+            RCLCPP_WARN(get_logger(), "Model config not found. Downloading from %s", cfg_url_.c_str());
             //Warning: This command is not portable
             string command = "wget -O " + model_config.string() + " " + cfg_url_;
             if (system(command.c_str())){
@@ -87,7 +87,7 @@ namespace triton_object_recognition
         //Check weights file exists and download if it doesn't
         boost::filesystem::path model_weights = model_folder / weights_filename_;
         if (!boost::filesystem::exists(model_weights)){
-            RCLCPP_WARN(get_logger(),"Model weights not found. Downloading from " + weights_url_);
+            RCLCPP_WARN(get_logger(), "Model weights not found. Downloading from %s", weights_url_.c_str());
             //Warning: This command is not portable
             string command = "wget -O " + model_weights.string() + " " + weights_url_;
             if (system(command.c_str())){