diff --git a/tf2_ros/include/tf2_ros/message_filter.hpp b/tf2_ros/include/tf2_ros/message_filter.hpp
index 43122661d..7c3dfc43f 100644
--- a/tf2_ros/include/tf2_ros/message_filter.hpp
+++ b/tf2_ros/include/tf2_ros/message_filter.hpp
@@ -62,6 +62,7 @@
 #include "builtin_interfaces/msg/time.hpp"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/duration.hpp"
+#include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/node_interfaces/node_interfaces.hpp"
@@ -69,14 +70,14 @@
 #include "rclcpp/node_interfaces/get_node_clock_interface.hpp"
 
 #define TF2_ROS_MESSAGEFILTER_DEBUG(fmt, ...) \
-  RCUTILS_LOG_DEBUG_NAMED( \
-    "tf2_ros_message_filter", \
+  RCLCPP_DEBUG( \
+    rclcpp::get_logger("tf2_ros_message_filter"), \
     std::string(std::string("MessageFilter [target=%s]: ") + std::string(fmt)).c_str(), \
     getTargetFramesString().c_str(), __VA_ARGS__)
 
 #define TF2_ROS_MESSAGEFILTER_WARN(fmt, ...) \
-  RCUTILS_LOG_WARN_NAMED( \
-    "tf2_ros_message_filter", \
+  RCLCPP_WARN( \
+    rclcpp::get_logger("tf2_ros_message_filter"), \
     std::string(std::string("MessageFilter [target=%s]: ") + std::string(fmt)).c_str(), \
     getTargetFramesString().c_str(), __VA_ARGS__)
 
diff --git a/tf2_ros/src/static_transform_broadcaster_program.cpp b/tf2_ros/src/static_transform_broadcaster_program.cpp
index a1779a237..e69cb020a 100644
--- a/tf2_ros/src/static_transform_broadcaster_program.cpp
+++ b/tf2_ros/src/static_transform_broadcaster_program.cpp
@@ -40,9 +40,8 @@
 #include "tf2/LinearMath/Quaternion.hpp"
 #include "tf2/LinearMath/Vector3.hpp"
 
-#include "rcutils/logging_macros.h"
-
 #include "rclcpp/executors.hpp"
+#include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node_options.hpp"
 #include "rclcpp/utilities.hpp"
@@ -305,7 +304,9 @@ int main(int argc, char ** argv)
 
   std::string ret = parse_args(args, help, rotation, translation, frame_id, child_frame_id);
   if (ret != "") {
-    RCUTILS_LOG_ERROR("error parsing command line arguments: %s", ret.c_str());
+    RCLCPP_ERROR(
+      rclcpp::get_logger("static_transform_publisher"),
+      "error parsing command line arguments: %s", ret.c_str());
     print_usage();
     return 1;
   }