diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
index b4c0586473..38f091b939 100644
--- a/admittance_controller/src/admittance_controller.cpp
+++ b/admittance_controller/src/admittance_controller.cpp
@@ -299,10 +299,11 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
           msg.header.frame_id != admittance_->parameters_.ft_sensor.frame.id &&
           !msg.header.frame_id.empty())
         {
-          RCLCPP_ERROR_STREAM(
-            get_node()->get_logger(), "Ignoring wrench reference as it is on the wrong frame: "
-                                        << msg.header.frame_id << ". Expected reference frame: "
-                                        << admittance_->parameters_.ft_sensor.frame.id);
+          RCLCPP_ERROR(
+            get_node()->get_logger(),
+            "Ignoring wrench reference as it is on the wrong frame: %s. Expected reference frame: "
+            "%s",
+            msg.header.frame_id.c_str(), admittance_->parameters_.ft_sensor.frame.id.c_str());
           return;
         }
         input_wrench_command_.writeFromNonRT(msg);
diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
index 034f7e43dd..a94e163d7b 100644
--- a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
+++ b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
@@ -210,8 +210,8 @@ controller_interface::CallbackReturn GripperActionController<HardwareInterface>:
 
   // Action status checking update rate
   action_monitor_period_ = rclcpp::Duration::from_seconds(1.0 / params_.action_monitor_rate);
-  RCLCPP_INFO_STREAM(
-    logger, "Action status changes will be monitored at " << params_.action_monitor_rate << "Hz.");
+  RCLCPP_INFO(
+    logger, "Action status changes will be monitored at %f Hz.", params_.action_monitor_rate);
 
   // Controlled joint
   if (params_.joint.empty())
@@ -232,16 +232,14 @@ controller_interface::CallbackReturn GripperActionController<HardwareInterface>:
     { return command_interface.get_interface_name() == HardwareInterface; });
   if (command_interface_it == command_interfaces_.end())
   {
-    RCLCPP_ERROR_STREAM(
-      get_node()->get_logger(), "Expected 1 " << HardwareInterface << " command interface");
+    RCLCPP_ERROR(get_node()->get_logger(), "Expected 1 %s command interface", HardwareInterface);
     return controller_interface::CallbackReturn::ERROR;
   }
   if (command_interface_it->get_prefix_name() != params_.joint)
   {
-    RCLCPP_ERROR_STREAM(
-      get_node()->get_logger(), "Command interface is different than joint name `"
-                                  << command_interface_it->get_prefix_name() << "` != `"
-                                  << params_.joint << "`");
+    RCLCPP_ERROR(
+      get_node()->get_logger(), "Command interface is different than joint name `%s` != `%s`",
+      command_interface_it->get_prefix_name().c_str(), params_.joint.c_str());
     return controller_interface::CallbackReturn::ERROR;
   }
   const auto position_state_interface_it = std::find_if(
@@ -255,10 +253,10 @@ controller_interface::CallbackReturn GripperActionController<HardwareInterface>:
   }
   if (position_state_interface_it->get_prefix_name() != params_.joint)
   {
-    RCLCPP_ERROR_STREAM(
-      get_node()->get_logger(), "Position state interface is different than joint name `"
-                                  << position_state_interface_it->get_prefix_name() << "` != `"
-                                  << params_.joint << "`");
+    RCLCPP_ERROR(
+      get_node()->get_logger(),
+      "Position state interface is different than joint name `%s` != `%s`",
+      position_state_interface_it->get_prefix_name().c_str(), params_.joint.c_str());
     return controller_interface::CallbackReturn::ERROR;
   }
   const auto velocity_state_interface_it = std::find_if(
@@ -272,10 +270,10 @@ controller_interface::CallbackReturn GripperActionController<HardwareInterface>:
   }
   if (velocity_state_interface_it->get_prefix_name() != params_.joint)
   {
-    RCLCPP_ERROR_STREAM(
-      get_node()->get_logger(), "Velocity command interface is different than joint name `"
-                                  << velocity_state_interface_it->get_prefix_name() << "` != `"
-                                  << params_.joint << "`");
+    RCLCPP_ERROR(
+      get_node()->get_logger(),
+      "Velocity command interface is different than joint name `%s` != `%s`",
+      velocity_state_interface_it->get_prefix_name().c_str(), params_.joint.c_str());
     return controller_interface::CallbackReturn::ERROR;
   }
 
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/interpolation_methods.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/interpolation_methods.hpp
index df8c9da0c4..f357a312c5 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/interpolation_methods.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/interpolation_methods.hpp
@@ -53,7 +53,7 @@ const std::unordered_map<InterpolationMethod, std::string> InterpolationMethodMa
   // Default
   else
   {
-    RCLCPP_INFO_STREAM(
+    RCLCPP_INFO(
       LOGGER,
       "No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.");
     return InterpolationMethod::VARIABLE_DEGREE_SPLINE;
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
index fbd11b9cdb..a89991bd55 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
@@ -175,10 +175,9 @@ SegmentTolerances get_segment_tolerances(
   }
   catch (const std::runtime_error & e)
   {
-    RCLCPP_ERROR_STREAM(
-      logger, "Specified illegal goal_time_tolerance: "
-                << rclcpp::Duration(goal.goal_time_tolerance).seconds()
-                << ". Using default tolerances");
+    RCLCPP_ERROR(
+      logger, "Specified illegal goal_time_tolerance: %f. Using default tolerances",
+      rclcpp::Duration(goal.goal_time_tolerance).seconds());
     return default_tolerances;
   }
   RCLCPP_DEBUG(logger, "%s %f", "goal_time", active_tolerances.goal_time_tolerance);
@@ -215,9 +214,11 @@ SegmentTolerances get_segment_tolerances(
     }
     catch (const std::runtime_error & e)
     {
-      RCLCPP_ERROR_STREAM(
-        logger, "joint '" << joint << "' specified in goal.path_tolerance has a invalid "
-                          << interface << " tolerance. Using default tolerances.");
+      RCLCPP_ERROR(
+        logger,
+        "joint '%s' specified in goal.path_tolerance has a invalid %s tolerance. Using default "
+        "tolerances.",
+        joint.c_str(), interface.c_str());
       return default_tolerances;
     }
 
@@ -262,9 +263,11 @@ SegmentTolerances get_segment_tolerances(
     }
     catch (const std::runtime_error & e)
     {
-      RCLCPP_ERROR_STREAM(
-        logger, "joint '" << joint << "' specified in goal.goal_tolerance has a invalid "
-                          << interface << " tolerance. Using default tolerances.");
+      RCLCPP_ERROR(
+        logger,
+        "joint '%s' specified in goal.goal_tolerance has a invalid %s tolerance. Using default "
+        "tolerances.",
+        joint.c_str(), interface.c_str());
       return default_tolerances;
     }
 
diff --git a/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp
index 5b7e760ca2..50f91678cb 100644
--- a/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp
+++ b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp
@@ -230,8 +230,8 @@ controller_interface::CallbackReturn GripperActionController::on_configure(
 
   // Action status checking update rate
   action_monitor_period_ = rclcpp::Duration::from_seconds(1.0 / params_.action_monitor_rate);
-  RCLCPP_INFO_STREAM(
-    logger, "Action status changes will be monitored at " << params_.action_monitor_rate << "Hz.");
+  RCLCPP_INFO(
+    logger, "Action status changes will be monitored at %f Hz.", params_.action_monitor_rate);
 
   // Controlled joint
   if (params_.joint.empty())
@@ -253,17 +253,16 @@ controller_interface::CallbackReturn GripperActionController::on_activate(
     { return command_interface.get_interface_name() == hardware_interface::HW_IF_POSITION; });
   if (command_interface_it == command_interfaces_.end())
   {
-    RCLCPP_ERROR_STREAM(
-      get_node()->get_logger(),
-      "Expected 1 " << hardware_interface::HW_IF_POSITION << " command interface");
+    RCLCPP_ERROR(
+      get_node()->get_logger(), "Expected 1 %s command interface",
+      hardware_interface::HW_IF_POSITION);
     return controller_interface::CallbackReturn::ERROR;
   }
   if (command_interface_it->get_prefix_name() != params_.joint)
   {
-    RCLCPP_ERROR_STREAM(
-      get_node()->get_logger(), "Command interface is different than joint name `"
-                                  << command_interface_it->get_prefix_name() << "` != `"
-                                  << params_.joint << "`");
+    RCLCPP_ERROR(
+      get_node()->get_logger(), "Command interface is different than joint name `%s` != `%s`",
+      command_interface_it->get_prefix_name().c_str(), params_.joint.c_str());
     return controller_interface::CallbackReturn::ERROR;
   }
   const auto position_state_interface_it = std::find_if(
@@ -277,10 +276,10 @@ controller_interface::CallbackReturn GripperActionController::on_activate(
   }
   if (position_state_interface_it->get_prefix_name() != params_.joint)
   {
-    RCLCPP_ERROR_STREAM(
-      get_node()->get_logger(), "Position state interface is different than joint name `"
-                                  << position_state_interface_it->get_prefix_name() << "` != `"
-                                  << params_.joint << "`");
+    RCLCPP_ERROR(
+      get_node()->get_logger(),
+      "Position state interface is different than joint name `%s` != `%s`",
+      position_state_interface_it->get_prefix_name().c_str(), params_.joint.c_str());
     return controller_interface::CallbackReturn::ERROR;
   }
   const auto velocity_state_interface_it = std::find_if(
@@ -294,10 +293,10 @@ controller_interface::CallbackReturn GripperActionController::on_activate(
   }
   if (velocity_state_interface_it->get_prefix_name() != params_.joint)
   {
-    RCLCPP_ERROR_STREAM(
-      get_node()->get_logger(), "Velocity command interface is different than joint name `"
-                                  << velocity_state_interface_it->get_prefix_name() << "` != `"
-                                  << params_.joint << "`");
+    RCLCPP_ERROR(
+      get_node()->get_logger(),
+      "Velocity command interface is different than joint name `%s` != `%s`",
+      velocity_state_interface_it->get_prefix_name().c_str(), params_.joint.c_str());
     return controller_interface::CallbackReturn::ERROR;
   }