diff --git a/include/rtabmap_ros/CommonDataSubscriberDefines.h b/include/rtabmap_ros/CommonDataSubscriberDefines.h
index 7f1d5bdb..d2a22794 100644
--- a/include/rtabmap_ros/CommonDataSubscriberDefines.h
+++ b/include/rtabmap_ros/CommonDataSubscriberDefines.h
@@ -118,7 +118,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 					PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
 			PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2)); \
 		} \
-		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s", \
+		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
 				SUB0.getTopic().c_str(), \
@@ -137,7 +137,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 					PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
 			PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3)); \
 		} \
-		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s", \
+		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
 				SUB0.getTopic().c_str(), \
@@ -157,7 +157,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 					PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
 			PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4)); \
 		} \
-		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s", \
+		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s \\\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
 				SUB0.getTopic().c_str(), \
@@ -178,7 +178,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 					PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
 			PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \
 		} \
-		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
+		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s", \
 				name_.c_str(), \
 				approxSync?"approx":"exact", \
 				SUB0.getTopic().c_str(), \
@@ -200,7 +200,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 					PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
 			PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \
 		} \
-		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
+		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
 				SUB0.getTopic().c_str(), \
@@ -223,7 +223,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 					PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
 			PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7)); \
 		} \
-		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
+		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
 				SUB0.getTopic().c_str(), \
@@ -247,7 +247,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 					PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
 			PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \
 		} \
-		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
+		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
 				SUB0.getTopic().c_str(), \
diff --git a/src/nodelets/rgbd_odometry.cpp b/src/nodelets/rgbd_odometry.cpp
index 6f944442..b48ec22f 100644
--- a/src/nodelets/rgbd_odometry.cpp
+++ b/src/nodelets/rgbd_odometry.cpp
@@ -176,7 +176,7 @@ private:
 								rgbd_image2_sub_);
 						exactSync2_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD2, this, _1, _2));
 					}
-					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s",
+					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
 							rgbd_image1_sub_.getTopic().c_str(),
@@ -202,7 +202,7 @@ private:
 								rgbd_image3_sub_);
 						exactSync3_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD3, this, _1, _2, _3));
 					}
-					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s",
+					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
 							rgbd_image1_sub_.getTopic().c_str(),
@@ -231,7 +231,7 @@ private:
 								rgbd_image4_sub_);
 						exactSync4_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD4, this, _1, _2, _3, _4));
 					}
-					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s",
+					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
 							rgbd_image1_sub_.getTopic().c_str(),
@@ -276,7 +276,7 @@ private:
 				exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
 			}
 
-			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s",
+			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s",
 					getName().c_str(),
 					approxSync?"approx":"exact",
 					image_mono_sub_.getTopic().c_str(),
diff --git a/src/nodelets/rgbd_sync.cpp b/src/nodelets/rgbd_sync.cpp
index 821a637e..3b35f7a0 100644
--- a/src/nodelets/rgbd_sync.cpp
+++ b/src/nodelets/rgbd_sync.cpp
@@ -136,7 +136,7 @@ private:
 		imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
 		cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
 
-		std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s",
+		std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
 							imageSub_.getTopic().c_str(),
diff --git a/src/nodelets/rgbdicp_odometry.cpp b/src/nodelets/rgbdicp_odometry.cpp
index 9b3e1673..fb8f056c 100644
--- a/src/nodelets/rgbdicp_odometry.cpp
+++ b/src/nodelets/rgbdicp_odometry.cpp
@@ -181,7 +181,7 @@ private:
 				exactScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, _1, _2, _3, _4));
 			}
 
-			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s, \n   %s",
+			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s \\\n   %s",
 					getName().c_str(),
 					approxSync?"approx":"exact",
 					image_mono_sub_.getTopic().c_str(),
diff --git a/src/nodelets/stereo_odometry.cpp b/src/nodelets/stereo_odometry.cpp
index 6ad37ba0..082f15fb 100644
--- a/src/nodelets/stereo_odometry.cpp
+++ b/src/nodelets/stereo_odometry.cpp
@@ -133,7 +133,7 @@ private:
 			}
 
 
-			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s",
+			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s \\\n   %s",
 					getName().c_str(),
 					approxSync?"approx":"exact",
 					imageRectLeft_.getTopic().c_str(),
diff --git a/src/nodelets/stereo_sync.cpp b/src/nodelets/stereo_sync.cpp
index dd184950..f639e38b 100644
--- a/src/nodelets/stereo_sync.cpp
+++ b/src/nodelets/stereo_sync.cpp
@@ -124,7 +124,7 @@ private:
 		cameraInfoLeftSub_.subscribe(left_nh, "camera_info", 1);
 		cameraInfoRightSub_.subscribe(right_nh, "camera_info", 1);
 
-		std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s",
+		std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s \\\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
 							imageLeftSub_.getTopic().c_str(),