diff --git a/moveit_core/exceptions/src/exceptions.cpp b/moveit_core/exceptions/src/exceptions.cpp
index 32d3c057d0..c275edfafd 100644
--- a/moveit_core/exceptions/src/exceptions.cpp
+++ b/moveit_core/exceptions/src/exceptions.cpp
@@ -38,14 +38,15 @@
 #include <rcutils/logging_macros.h>
 #include "rclcpp/rclcpp.hpp"
 
-#define ROS_ERROR RCUTILS_LOG_ERROR
+// Logger
+rclcpp::Logger logger_exceptions = rclcpp::get_logger("exceptions");
 
 moveit::ConstructException::ConstructException(const std::string& what_arg) : std::runtime_error(what_arg)
 {
-  ROS_ERROR("Error during construction of object: %s\nException thrown.", what_arg.c_str());
+  RCLCPP_ERROR(logger_exceptions, "Error during construction of object: %s\nException thrown.", what_arg.c_str());
 }
 
 moveit::Exception::Exception(const std::string& what_arg) : std::runtime_error(what_arg)
 {
-  ROS_ERROR("Exception thrown.", what_arg.c_str());
+  RCLCPP_ERROR(logger_exceptions, "Exception thrown.", what_arg.c_str());
 }