diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
index b419dbe4f0..761b95f0bb 100644
--- a/hardware_interface/CMakeLists.txt
+++ b/hardware_interface/CMakeLists.txt
@@ -7,14 +7,14 @@ endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_msgs
-    controller_manager_msgs
+  controller_manager_msgs
   lifecycle_msgs
   pluginlib
-    rclcpp
+  rclcpp
   rclcpp_lifecycle
   rcpputils
   rcutils
-    std_msgs
+  std_msgs
   TinyXML2
   tinyxml2_vendor
 )
diff --git a/hardware_interface/include/hardware_interface/handle.hpp b/hardware_interface/include/hardware_interface/handle.hpp
index 52fbc3b053..4900b429f4 100644
--- a/hardware_interface/include/hardware_interface/handle.hpp
+++ b/hardware_interface/include/hardware_interface/handle.hpp
@@ -254,7 +254,7 @@ class DistributedReadOnlyHandle : public ReadOnlyHandle
   void get_value_cb(const std_msgs::msg::Float64 & msg)
   {
     value_ = msg.data;
-    RCLCPP_WARN_STREAM(node_->get_logger(), "Receiving:[" << value_ << "].");
+    RCLCPP_DEBUG_STREAM(node_->get_logger(), "Receiving:[" << value_ << "].");
   }
 
   std::string get_value_topic_name_;
@@ -405,7 +405,7 @@ class DistributedReadWriteHandle : public ReadWriteHandle
     auto msg = std::make_unique<std_msgs::msg::Float64>();
     msg->data = value;
 
-    RCLCPP_WARN(node_->get_logger(), "DistributedCommandInterface Publishing: '%.7lf'", msg->data);
+    RCLCPP_DEBUG(node_->get_logger(), "DistributedCommandInterface Publishing: '%.7lf'", msg->data);
     std::flush(std::cout);
 
     command_value_pub_->publish(std::move(msg));
@@ -417,7 +417,7 @@ class DistributedReadWriteHandle : public ReadWriteHandle
   void get_value_cb(const std_msgs::msg::Float64 & msg)
   {
     value_ = msg.data;
-    RCLCPP_WARN_STREAM(
+    RCLCPP_DEBUG_STREAM(
       node_->get_logger(), "DistributedCommandInterface Receiving:[" << value_ << "].");
   }
 
diff --git a/hardware_interface/src/hardware_interface/distributed_control_interface/command_forwarder.cpp b/hardware_interface/src/hardware_interface/distributed_control_interface/command_forwarder.cpp
index 558b632b2a..c9db5cbfee 100644
--- a/hardware_interface/src/hardware_interface/distributed_control_interface/command_forwarder.cpp
+++ b/hardware_interface/src/hardware_interface/distributed_control_interface/command_forwarder.cpp
@@ -6,6 +6,8 @@
 #include <map>
 #include <stdexcept>
 
+#include "rclcpp/rclcpp.hpp"
+
 using namespace std::chrono_literals;
 
 namespace distributed_control
@@ -105,7 +107,7 @@ void CommandForwarder::publish_value_on_timer()
   {
     msg->data = std::numeric_limits<double>::quiet_NaN();
   }
-  RCLCPP_WARN(node_->get_logger(), "Publishing: '%.7lf'", msg->data);
+  RCLCPP_DEBUG(node_->get_logger(), "Publishing: '%.7lf'", msg->data);
   std::flush(std::cout);
 
   // Put the message into a queue to be processed by the middleware.
diff --git a/hardware_interface/src/hardware_interface/distributed_control_interface/state_publisher.cpp b/hardware_interface/src/hardware_interface/distributed_control_interface/state_publisher.cpp
index 0857bbb342..b353ef63bf 100644
--- a/hardware_interface/src/hardware_interface/distributed_control_interface/state_publisher.cpp
+++ b/hardware_interface/src/hardware_interface/distributed_control_interface/state_publisher.cpp
@@ -6,6 +6,8 @@
 #include <map>
 #include <stdexcept>
 
+#include "rclcpp/rclcpp.hpp"
+
 using namespace std::chrono_literals;
 
 namespace distributed_control
@@ -97,7 +99,7 @@ void StatePublisher::publish_value_on_timer()
     // Make explicit note implicit!!!
     msg->data = std::numeric_limits<double>::quiet_NaN();
   }
-  RCLCPP_WARN(node_->get_logger(), "Publishing: '%.7lf'", msg->data);
+  RCLCPP_DEBUG(node_->get_logger(), "Publishing: '%.7lf'", msg->data);
   std::flush(std::cout);
 
   // Put the message into a queue to be processed by the middleware.