diff --git a/rtabmap_sync/include/rtabmap_sync/SyncDiagnostic.h b/rtabmap_sync/include/rtabmap_sync/SyncDiagnostic.h
index 1102eebd0..dfc3e384d 100644
--- a/rtabmap_sync/include/rtabmap_sync/SyncDiagnostic.h
+++ b/rtabmap_sync/include/rtabmap_sync/SyncDiagnostic.h
@@ -88,7 +88,7 @@ class SyncDiagnostic {
 
         if(ros::Time::now().toSec()-lastCallbackCalledStamp_ >= 5 && !topicsNotReceivedWarningMsg_.empty())
         {
-            ROS_WARN_THROTTLE(5, topicsNotReceivedWarningMsg_.c_str());
+            ROS_WARN_THROTTLE(5, "%s", topicsNotReceivedWarningMsg_.c_str());
         }
     }
 
diff --git a/rtabmap_sync/src/nodelets/rgb_sync.cpp b/rtabmap_sync/src/nodelets/rgb_sync.cpp
index a087b6d98..688c3ffd4 100644
--- a/rtabmap_sync/src/nodelets/rgb_sync.cpp
+++ b/rtabmap_sync/src/nodelets/rgb_sync.cpp
@@ -121,7 +121,7 @@ class RgbSync : public nodelet::Nodelet
 							approxSync&&approxSyncMaxInterval!=std::numeric_limits<double>::max()?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
 							imageSub_.getTopic().c_str(),
 							cameraInfoSub_.getTopic().c_str());
-		NODELET_INFO(subscribedTopicsMsg.c_str());
+		NODELET_INFO("%s", subscribedTopicsMsg.c_str());
 
 		syncDiagnostic_.reset(new SyncDiagnostic(nh, pnh, getName()));
 		syncDiagnostic_->init(rgb_nh.resolveName("image_rect"),
diff --git a/rtabmap_sync/src/nodelets/rgbd_sync.cpp b/rtabmap_sync/src/nodelets/rgbd_sync.cpp
index 7a329baf5..eb2665ec7 100644
--- a/rtabmap_sync/src/nodelets/rgbd_sync.cpp
+++ b/rtabmap_sync/src/nodelets/rgbd_sync.cpp
@@ -140,7 +140,7 @@ class RGBDSync : public nodelet::Nodelet
 							imageSub_.getTopic().c_str(),
 							imageDepthSub_.getTopic().c_str(),
 							cameraInfoSub_.getTopic().c_str());
-		NODELET_INFO(subscribedTopicsMsg.c_str());
+		NODELET_INFO("%s", subscribedTopicsMsg.c_str());
 
 		syncDiagnostic_.reset(new SyncDiagnostic(nh, pnh, getName()));
 		syncDiagnostic_->init(rgb_nh.resolveName("image"),
diff --git a/rtabmap_sync/src/nodelets/stereo_sync.cpp b/rtabmap_sync/src/nodelets/stereo_sync.cpp
index da4fbb37c..82be9b0d7 100644
--- a/rtabmap_sync/src/nodelets/stereo_sync.cpp
+++ b/rtabmap_sync/src/nodelets/stereo_sync.cpp
@@ -129,7 +129,7 @@ class StereoSync : public nodelet::Nodelet
 							imageRightSub_.getTopic().c_str(),
 							cameraInfoLeftSub_.getTopic().c_str(),
 							cameraInfoRightSub_.getTopic().c_str());
-		NODELET_INFO(subscribedTopicsMsg.c_str());
+		NODELET_INFO("%s", subscribedTopicsMsg.c_str());
 
 		syncDiagnostic_.reset(new SyncDiagnostic(nh, pnh, getName()));
 		syncDiagnostic_->init(left_nh.resolveName("image_rect"),