diff --git a/src/CommonDataSubscriber.cpp b/src/CommonDataSubscriber.cpp
index e8343e1a..74152339 100644
--- a/src/CommonDataSubscriber.cpp
+++ b/src/CommonDataSubscriber.cpp
@@ -252,7 +252,7 @@ CommonDataSubscriber::CommonDataSubscriber() :
 	if(subscribedToDepth_ || subscribedToStereo_ || subscribedToRGBD_)
 	{
 		warningThread_ = new boost::thread(boost::bind(&CommonDataSubscriber::warningLoop, this));
-		ROS_INFO(subscribedTopicsMsg_.c_str());
+		ROS_INFO("%s", subscribedTopicsMsg_.c_str());
 	}
 }
 
diff --git a/src/MapsManager.cpp b/src/MapsManager.cpp
index 2c38c7f5..35365ea4 100644
--- a/src/MapsManager.cpp
+++ b/src/MapsManager.cpp
@@ -417,7 +417,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 		{
 			if(updateGrid && gridMaps_.size() < 5)
 			{
-				ROS_WARN("Many occupancy grids should be loaded (~%d), this may take a while to update the map(s)...", int(filteredPoses.size()-octomap_->addedNodes().size()));
+				ROS_WARN("Many occupancy grids should be loaded (~%d), this may take a while to update the map(s)...", int(filteredPoses.size()-gridMaps_.size()));
 				longUpdate = true;
 			}
 #ifdef WITH_OCTOMAP_ROS
diff --git a/src/OdometryROS.cpp b/src/OdometryROS.cpp
index 3f1f40e3..b3105987 100644
--- a/src/OdometryROS.cpp
+++ b/src/OdometryROS.cpp
@@ -306,7 +306,7 @@ void OdometryROS::onInit()
 void OdometryROS::startWarningThread(const std::string & subscribedTopicsMsg, bool approxSync)
 {
 	warningThread_ = new boost::thread(boost::bind(&OdometryROS::warningLoop, this, subscribedTopicsMsg, approxSync));
-	NODELET_INFO(subscribedTopicsMsg.c_str());
+	NODELET_INFO("%s", subscribedTopicsMsg.c_str());
 }
 
 void OdometryROS::warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)