diff --git a/nav2_mppi_controller/CMakeLists.txt b/nav2_mppi_controller/CMakeLists.txt
index 1ce40c2cfa..a315850fdb 100644
--- a/nav2_mppi_controller/CMakeLists.txt
+++ b/nav2_mppi_controller/CMakeLists.txt
@@ -28,7 +28,6 @@ set(dependencies_pkgs
   geometry_msgs
   visualization_msgs
   nav_msgs
-  nav2_msgs
   nav2_core
   nav2_costmap_2d
   nav2_util
diff --git a/nav2_mppi_controller/src/controller.cpp b/nav2_mppi_controller/src/controller.cpp
index 104800c0fd..859301792c 100644
--- a/nav2_mppi_controller/src/controller.cpp
+++ b/nav2_mppi_controller/src/controller.cpp
@@ -124,7 +124,7 @@ geometry_msgs::msg::TwistStamped MPPIController::computeVelocityCommands(
 
     // log critic names and costs
     for (size_t i = 0; i < critic_names.size(); i++) {
-      RCLCPP_INFO(logger_, "Critic: %s, Cost: %f", critic_names[i].c_str(), critic_costs[i]);
+      RCLCPP_DEBUG(logger_, "Critic: %s, Cost: %f", critic_names[i].c_str(), critic_costs[i]);
     }
 
     // make msg
diff --git a/nav2_mppi_controller/src/critic_manager.cpp b/nav2_mppi_controller/src/critic_manager.cpp
index 3952a97b08..85f521f38a 100644
--- a/nav2_mppi_controller/src/critic_manager.cpp
+++ b/nav2_mppi_controller/src/critic_manager.cpp
@@ -85,9 +85,6 @@ void CriticManager::evalTrajectoriesScores(
 xt::xtensor<float, 1> CriticManager::evalTrajectory(
   CriticData & data) const
 {
-  // log the critic_scores shape
-  RCLCPP_INFO(logger_, "(BEFORE FOR)");
-
   xt::xtensor<float, 1> critic_scores = xt::zeros<float>({critics_.size()});
 
   for (size_t q = 0; q < critics_.size(); q++) {
@@ -99,8 +96,6 @@ xt::xtensor<float, 1> CriticManager::evalTrajectory(
     critics_[q]->score(data);
     critic_scores(q) = data.costs[0];
   }
-  // log the for cycle finished in criticmanager
-  RCLCPP_INFO(logger_, "CriticManager: Critic evaluation (FOR) finished");
 
   return critic_scores;
 }