diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
index c416ebef08..a0b8021fe0 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -97,7 +97,7 @@ class BtActionNode : public BT::ActionNodeBase
     RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
     if (!action_client_->wait_for_action_server(wait_for_service_timeout_)) {
       RCLCPP_ERROR(
-        node_->get_logger(), "\"%s\" action server not available after waiting for %f s",
+        node_->get_logger(), "\"%s\" action server not available after waiting for %.2fs",
         action_name.c_str(),
         wait_for_service_timeout_.count() / 1000.0);
       throw std::runtime_error(
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
index 6a7cc78e1e..5e9fa932a7 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
@@ -93,8 +93,8 @@ class BtCancelActionNode : public BT::ActionNodeBase
     RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
     if (!action_client_->wait_for_action_server(wait_for_service_timeout_)) {
       RCLCPP_ERROR(
-        node_->get_logger(), "\"%s\" action server not available after waiting for 1 s",
-        action_name.c_str());
+        node_->get_logger(), "\"%s\" action server not available after waiting for %.2fs",
+        action_name.c_str(), wait_for_service_timeout_.count() / 1000.0);
       throw std::runtime_error(
               std::string("Action server ") + action_name +
               std::string(" not available"));
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
index 965b0943ec..052cb8b60b 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -81,8 +81,8 @@ class BtServiceNode : public BT::ActionNodeBase
       service_name_.c_str());
     if (!service_client_->wait_for_service(wait_for_service_timeout_)) {
       RCLCPP_ERROR(
-        node_->get_logger(), "\"%s\" service server not available after waiting for 1 s",
-        service_node_name.c_str());
+        node_->get_logger(), "\"%s\" service server not available after waiting for %.2fs",
+        service_name_.c_str(), wait_for_service_timeout_.count() / 1000.0);
       throw std::runtime_error(
               std::string(
                 "Service server %s not available",