diff --git a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
index ed364f0987f4f..5d1c0c68d8208 100644
--- a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
+++ b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
@@ -400,7 +400,7 @@ PlannerPlugin::LaneletRoute DefaultPlanner::plan(const RoutePoints & points)
     log_ss << "x: " << point.position.x << " "
            << "y: " << point.position.y << std::endl;
   }
-  RCLCPP_INFO_STREAM(
+  RCLCPP_DEBUG_STREAM(
     logger, "start planning route with check points: " << std::endl
                                                        << log_ss.str());
 
diff --git a/planning/mission_planner/src/mission_planner/mission_planner.cpp b/planning/mission_planner/src/mission_planner/mission_planner.cpp
index a1536a1bebfbf..9ee874928d7d1 100644
--- a/planning/mission_planner/src/mission_planner/mission_planner.cpp
+++ b/planning/mission_planner/src/mission_planner/mission_planner.cpp
@@ -144,7 +144,7 @@ void MissionPlanner::checkInitialization()
   }
 
   // All data is ready. Now API is available.
-  RCLCPP_INFO(get_logger(), "Route API is ready.");
+  RCLCPP_DEBUG(get_logger(), "Route API is ready.");
   change_state(RouteState::Message::UNSET);
   data_check_timer_->cancel();  // stop timer callback
 }