diff --git a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
index ebd1cd4e77..237f6ba8ba 100644
--- a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
+++ b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
@@ -203,7 +203,7 @@ NavigateThroughPosesNavigator::initializeGoalPoses(ActionT::Goal::ConstSharedPtr
 {
   if (goal->poses.size() > 0) {
     RCLCPP_INFO(
-      logger_, "Begin navigating from current location through %li poses to (%.2f, %.2f)",
+      logger_, "Begin navigating from current location through %zu poses to (%.2f, %.2f)",
       goal->poses.size(), goal->poses.back().pose.position.x, goal->poses.back().pose.position.y);
   }
 
diff --git a/nav2_costmap_2d/plugins/inflation_layer.cpp b/nav2_costmap_2d/plugins/inflation_layer.cpp
index ac9245e8ad..796c2fd62f 100644
--- a/nav2_costmap_2d/plugins/inflation_layer.cpp
+++ b/nav2_costmap_2d/plugins/inflation_layer.cpp
@@ -171,7 +171,7 @@ InflationLayer::onFootprintChanged()
   need_reinflation_ = true;
 
   RCLCPP_DEBUG(
-    logger_, "InflationLayer::onFootprintChanged(): num footprint points: %lu,"
+    logger_, "InflationLayer::onFootprintChanged(): num footprint points: %zu,"
     " inscribed_radius_ = %.3f, inflation_radius_ = %.3f",
     layered_costmap_->getFootprint().size(), inscribed_radius_, inflation_radius_);
 }
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index a81dd8d886..e9efb627a4 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -332,7 +332,7 @@ bool PlannerServer::validatePath(
 
   RCLCPP_DEBUG(
     get_logger(),
-    "Found valid path of size %lu to (%.2f, %.2f)",
+    "Found valid path of size %zu to (%.2f, %.2f)",
     path.poses.size(), goal.pose.position.x,
     goal.pose.position.y);
 
@@ -422,7 +422,7 @@ PlannerServer::computePlanThroughPoses()
   } catch (std::exception & ex) {
     RCLCPP_WARN(
       get_logger(),
-      "%s plugin failed to plan through %li points with final goal (%.2f, %.2f): \"%s\"",
+      "%s plugin failed to plan through %zu points with final goal (%.2f, %.2f): \"%s\"",
       goal->planner_id.c_str(), goal->goals.size(), goal->goals.back().pose.position.x,
       goal->goals.back().pose.position.y, ex.what());
     action_server_poses_->terminate_current();
diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
index 6f8d9e1dab..804de9ad31 100644
--- a/nav2_waypoint_follower/src/waypoint_follower.cpp
+++ b/nav2_waypoint_follower/src/waypoint_follower.cpp
@@ -263,7 +263,7 @@ WaypointFollower::followWaypoints()
       new_goal = true;
       if (goal_index >= goal->poses.size()) {
         RCLCPP_INFO(
-          get_logger(), "Completed all %lu waypoints requested.",
+          get_logger(), "Completed all %zu waypoints requested.",
           goal->poses.size());
         result->missed_waypoints = failed_ids_;
         action_server_->succeeded_current(result);