diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml
index ff88958f..fb5bd053 100644
--- a/.github/workflows/style.yaml
+++ b/.github/workflows/style.yaml
@@ -21,4 +21,6 @@ jobs:
     - name: uncrustify
       run: /ros_entrypoint.sh ament_uncrustify rmw_zenoh_cpp/
     - name: cpplint
-      run: /ros_entrypoint.sh ament_cpplint rmw_zenoh_cpp/
+      # Ignore logging.hpp since the fmt::sprintf gets incorrectly flagged by ament_cpplint
+      # as a runtime/printf error.
+      run: /ros_entrypoint.sh ament_cpplint rmw_zenoh_cpp/ --exclude rmw_zenoh_cpp/src/detail/logging.hpp
diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 1e4c77db..8b72873d 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(ament_cmake REQUIRED)
 
 find_package(ament_index_cpp REQUIRED)
 find_package(fastcdr CONFIG REQUIRED)
+find_package(fmt CONFIG REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
@@ -36,6 +37,7 @@ add_library(rmw_zenoh_cpp SHARED
   src/detail/graph_cache.cpp
   src/detail/guard_condition.cpp
   src/detail/liveliness_utils.cpp
+  src/detail/logging.cpp
   src/detail/message_type_support.cpp
   src/detail/rmw_data_types.cpp
   src/detail/service_type_support.cpp
@@ -59,6 +61,7 @@ target_link_libraries(rmw_zenoh_cpp
   PRIVATE
     ament_index_cpp::ament_index_cpp
     fastcdr
+    fmt::fmt
     rcpputils::rcpputils
     rcutils::rcutils
     rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c
@@ -105,12 +108,13 @@ add_executable(rmw_zenohd
   src/zenohd/main.cpp
   src/detail/zenoh_config.cpp
   src/detail/liveliness_utils.cpp
+  src/detail/logging.cpp
 )
 
 target_link_libraries(rmw_zenohd
   PRIVATE
     ament_index_cpp::ament_index_cpp
-    rcutils::rcutils
+    fmt::fmt
     rcpputils::rcpputils
     rmw::rmw
     zenohc::lib
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index 6304ab32..72ea95c8 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -14,6 +14,7 @@
 
   <depend>ament_index_cpp</depend>
   <depend>fastcdr</depend>
+  <depend>fmt</depend>
   <depend>rcpputils</depend>
   <depend>rcutils</depend>
   <depend>rosidl_typesupport_fastrtps_c</depend>
diff --git a/rmw_zenoh_cpp/src/detail/event.cpp b/rmw_zenoh_cpp/src/detail/event.cpp
index 03bec0ec..1185193c 100644
--- a/rmw_zenoh_cpp/src/detail/event.cpp
+++ b/rmw_zenoh_cpp/src/detail/event.cpp
@@ -16,7 +16,7 @@
 
 #include "event.hpp"
 
-#include "rcutils/logging_macros.h"
+#include "logging_macros.hpp"
 
 #include "rmw/error_handling.h"
 
@@ -148,7 +148,7 @@ void EventsManager::add_new_event(
     std::deque<std::unique_ptr<rmw_zenoh_event_status_t>> & event_queue = event_queues_[event_id];
     if (event_queue.size() >= event_queue_depth_) {
       // Log warning if message is discarded due to hitting the queue depth
-      RCUTILS_LOG_DEBUG_NAMED(
+      RMW_ZENOH_LOG_DEBUG_NAMED(
         "rmw_zenoh_cpp",
         "Event queue depth of %ld reached, discarding oldest message "
         "for event type %d",
diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.cpp b/rmw_zenoh_cpp/src/detail/graph_cache.cpp
index f23b910e..803383d9 100644
--- a/rmw_zenoh_cpp/src/detail/graph_cache.cpp
+++ b/rmw_zenoh_cpp/src/detail/graph_cache.cpp
@@ -25,7 +25,6 @@
 #include "rcpputils/find_and_replace.hpp"
 #include "rcpputils/scope_exit.hpp"
 
-#include "rcutils/logging_macros.h"
 #include "rcutils/strdup.h"
 
 #include "rmw/error_handling.h"
@@ -36,6 +35,7 @@
 #include "rosidl_runtime_c/type_hash.h"
 
 #include "graph_cache.hpp"
+#include "logging_macros.hpp"
 #include "rmw_data_types.hpp"
 
 namespace rmw_zenoh_cpp
@@ -131,7 +131,7 @@ void GraphCache::update_topic_map_for_put(
   TopicDataPtr graph_topic_data = TopicData::make(entity);
   if (graph_topic_data == nullptr) {
     // This should not happen as topic_info should be populated for all non-node entities.
-    RCUTILS_LOG_WARN_NAMED(
+    RMW_ZENOH_LOG_WARN_NAMED(
       "rmw_zenoh_cpp",
       "update_topic_map_for_put() called for non-node entity without valid TopicInfo. "
       "Report this.");
@@ -339,7 +339,7 @@ void GraphCache::parse_put(
     return;
   }
   if (ignore_from_current_session && is_entity_local(*entity)) {
-    RCUTILS_LOG_DEBUG_NAMED(
+    RMW_ZENOH_LOG_DEBUG_NAMED(
       "rmw_zenoh_cpp",
       "Ignoring parse_put for %s from the same session.\n", entity->keyexpr().c_str());
     return;
@@ -391,7 +391,7 @@ void GraphCache::parse_put(
     update_topic_maps_for_put(node, entity);
     total_nodes_in_graph_ += 1;
     if (insertion_it == ns_it->second.end()) {
-      RCUTILS_LOG_ERROR_NAMED(
+      RMW_ZENOH_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
         "Unable to add a new node /%s to an "
         "existing namespace %s in the graph. Report this bug.",
@@ -442,7 +442,7 @@ void GraphCache::update_topic_map_for_del(
   bool report_events)
 {
   if (!entity->topic_info().has_value()) {
-    RCUTILS_LOG_WARN_NAMED(
+    RMW_ZENOH_LOG_WARN_NAMED(
       "rmw_zenoh_cpp",
       "update_topic_maps_for_del() called for non-node entity without valid TopicInfo. "
       "Report this.");
@@ -455,7 +455,7 @@ void GraphCache::update_topic_map_for_del(
     topic_map.find(topic_info.name_);
   if (cache_topic_it == topic_map.end()) {
     // This should not happen.
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp", "topic name %s not found in topic_map. Report this.",
       topic_info.name_.c_str());
     return;
@@ -465,7 +465,7 @@ void GraphCache::update_topic_map_for_del(
     cache_topic_it->second.find(topic_info.type_);
   if (cache_topic_type_it == cache_topic_it->second.end()) {
     // This should not happen.
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp", "topic type %s not found in for topic %s. Report this.",
       topic_info.type_.c_str(), topic_info.name_.c_str());
     return;
@@ -476,7 +476,7 @@ void GraphCache::update_topic_map_for_del(
     qos_str);
   if (cache_topic_qos_it == cache_topic_type_it->second.end()) {
     // This should not happen.
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp", "qos %s not found in for topic type %s. Report this.",
       qos_str.c_str(), topic_info.type_.c_str());
     return;
@@ -557,7 +557,7 @@ void GraphCache::parse_del(
     return;
   }
   if (ignore_from_current_session && is_entity_local(*entity)) {
-    RCUTILS_LOG_DEBUG_NAMED(
+    RMW_ZENOH_LOG_DEBUG_NAMED(
       "rmw_zenoh_cpp",
       "Ignoring parse_del for %s from the same session.\n", entity->keyexpr().c_str());
     return;
@@ -583,7 +583,7 @@ void GraphCache::parse_del(
     });
   if (node_it == range.second) {
     // Node does not exist.
-    RCUTILS_LOG_WARN_NAMED(
+    RMW_ZENOH_LOG_WARN_NAMED(
       "rmw_zenoh_cpp",
       "Received liveliness token to remove unknown node /%s from the graph. Ignoring...",
       entity->node_name().c_str()
@@ -602,7 +602,7 @@ void GraphCache::parse_del(
       !graph_node->clients_.empty() ||
       !graph_node->services_.empty())
     {
-      RCUTILS_LOG_WARN_NAMED(
+      RMW_ZENOH_LOG_WARN_NAMED(
         "rmw_zenoh_cpp",
         "Received liveliness token to remove node /%s from the graph before all pub/subs/"
         "clients/services for this node have been removed. Removing all entities first...",
@@ -658,7 +658,7 @@ rmw_ret_t GraphCache::get_node_names(
     [node_names]() {
       rcutils_ret_t ret = rcutils_string_array_fini(node_names);
       if (ret != RCUTILS_RET_OK) {
-        RCUTILS_LOG_ERROR_NAMED(
+        RMW_ZENOH_LOG_ERROR_NAMED(
           "rmw_zenoh_cpp",
           "failed to cleanup during error handling: %s", rcutils_get_error_string().str);
       }
@@ -673,7 +673,7 @@ rmw_ret_t GraphCache::get_node_names(
     [node_namespaces]() {
       rcutils_ret_t ret = rcutils_string_array_fini(node_namespaces);
       if (ret != RCUTILS_RET_OK) {
-        RCUTILS_LOG_ERROR_NAMED(
+        RMW_ZENOH_LOG_ERROR_NAMED(
           "rmw_zenoh_cpp",
           "failed to cleanup during error handling: %s", rcutils_get_error_string().str);
       }
@@ -682,7 +682,7 @@ rmw_ret_t GraphCache::get_node_names(
   auto free_enclaves_lambda = [enclaves]() -> void {
       rcutils_ret_t ret = rcutils_string_array_fini(enclaves);
       if (ret != RCUTILS_RET_OK) {
-        RCUTILS_LOG_ERROR_NAMED(
+        RMW_ZENOH_LOG_ERROR_NAMED(
           "rmw_zenoh_cpp",
           "failed to cleanup during error handling: %s", rcutils_get_error_string().str);
       }
@@ -1231,7 +1231,7 @@ void GraphCache::set_qos_event_callback(
   std::lock_guard<std::mutex> lock(graph_mutex_);
 
   if (event_type > ZENOH_EVENT_ID_MAX) {
-    RCUTILS_LOG_WARN_NAMED(
+    RMW_ZENOH_LOG_WARN_NAMED(
       "rmw_zenoh_cpp",
       "set_qos_event_callback() called for unsupported event. Report this.");
     return;
diff --git a/rmw_zenoh_cpp/src/detail/liveliness_utils.cpp b/rmw_zenoh_cpp/src/detail/liveliness_utils.cpp
index 8810ef13..acd71e58 100644
--- a/rmw_zenoh_cpp/src/detail/liveliness_utils.cpp
+++ b/rmw_zenoh_cpp/src/detail/liveliness_utils.cpp
@@ -23,8 +23,9 @@
 #include <utility>
 #include <vector>
 
+#include "logging_macros.hpp"
+
 #include "rcpputils/scope_exit.hpp"
-#include "rcutils/logging_macros.h"
 
 #include "rmw/error_handling.h"
 
@@ -411,7 +412,7 @@ std::shared_ptr<Entity> Entity::make(const std::string & keyexpr)
   // (ADMIN_SPACE, domain_id, zid, id, entity_type, namespace, node_name).
   // Basic validation.
   if (parts.size() < KEYEXPR_INDEX_MIN + 1) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Received invalid liveliness token with %lu/%d parts: %s",
       parts.size(),
@@ -420,7 +421,7 @@ std::shared_ptr<Entity> Entity::make(const std::string & keyexpr)
   }
   for (const std::string & p : parts) {
     if (p.empty()) {
-      RCUTILS_LOG_ERROR_NAMED(
+      RMW_ZENOH_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
         "Received invalid liveliness token with empty parts: %s", keyexpr.c_str());
       return nullptr;
@@ -428,7 +429,7 @@ std::shared_ptr<Entity> Entity::make(const std::string & keyexpr)
   }
 
   if (parts[KeyexprIndex::AdminSpace] != ADMIN_SPACE) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Received liveliness token with invalid admin space.");
     return nullptr;
@@ -439,7 +440,7 @@ std::shared_ptr<Entity> Entity::make(const std::string & keyexpr)
   std::unordered_map<std::string, EntityType>::const_iterator entity_it =
     str_to_entity.find(entity_str);
   if (entity_it == str_to_entity.end()) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Received liveliness token with invalid entity %s.", entity_str.c_str());
     return nullptr;
@@ -458,14 +459,14 @@ std::shared_ptr<Entity> Entity::make(const std::string & keyexpr)
   // Populate topic_info if we have a token for an entity other than a node.
   if (entity_type != EntityType::Node) {
     if (parts.size() < KEYEXPR_INDEX_MAX + 1) {
-      RCUTILS_LOG_ERROR_NAMED(
+      RMW_ZENOH_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
         "Received liveliness token for non-node entity without required parameters.");
       return nullptr;
     }
     std::optional<rmw_qos_profile_t> qos = keyexpr_to_qos(parts[KeyexprIndex::TopicQoS]);
     if (!qos.has_value()) {
-      RCUTILS_LOG_ERROR_NAMED(
+      RMW_ZENOH_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
         "Received liveliness token with invalid qos keyexpr");
       return nullptr;
diff --git a/rmw_zenoh_cpp/src/detail/logging.cpp b/rmw_zenoh_cpp/src/detail/logging.cpp
new file mode 100644
index 00000000..2a7b2592
--- /dev/null
+++ b/rmw_zenoh_cpp/src/detail/logging.cpp
@@ -0,0 +1,72 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "logging.hpp"
+
+#include <sstream>
+
+namespace rmw_zenoh_cpp
+{
+///=============================================================================
+Logger & Logger::get()
+{
+  static Logger logger(RMW_ZENOH_LOG_LEVEL_INFO);
+  return logger;
+}
+
+///=============================================================================
+Logger::Logger(LogLevel threshold_level)
+: threshold_level_(threshold_level)
+{}
+
+///=============================================================================
+fmt::color Logger::level_to_color(LogLevel level) const
+{
+  switch(level) {
+    case RMW_ZENOH_LOG_LEVEL_DEBUG:
+      return fmt::color::light_green;
+    case RMW_ZENOH_LOG_LEVEL_ERROR:
+      return fmt::color::indian_red;
+    case RMW_ZENOH_LOG_LEVEL_INFO:
+      return fmt::color::light_blue;
+    case RMW_ZENOH_LOG_LEVEL_WARN:
+      return fmt::color::light_yellow;
+    default:
+      return fmt::color::white;
+  }
+}
+
+///=============================================================================
+std::string Logger::level_to_string(LogLevel level) const
+{
+  switch(level) {
+    case RMW_ZENOH_LOG_LEVEL_DEBUG:
+      return "DEBUG";
+    case RMW_ZENOH_LOG_LEVEL_ERROR:
+      return "ERROR";
+    case RMW_ZENOH_LOG_LEVEL_INFO:
+      return "INFO";
+    case RMW_ZENOH_LOG_LEVEL_WARN:
+      return "WARN";
+    default:
+      return "UNKOWN";
+  }
+}
+
+///=============================================================================
+void Logger::set_log_level(LogLevel new_level)
+{
+  threshold_level_ = new_level;
+}
+}  // namespace rmw_zenoh_cpp
diff --git a/rmw_zenoh_cpp/src/detail/logging.hpp b/rmw_zenoh_cpp/src/detail/logging.hpp
new file mode 100644
index 00000000..d721f5c9
--- /dev/null
+++ b/rmw_zenoh_cpp/src/detail/logging.hpp
@@ -0,0 +1,83 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef DETAIL__LOGGING_HPP_
+#define DETAIL__LOGGING_HPP_
+
+#include <fmt/chrono.h>
+#include <fmt/color.h>
+#include <fmt/printf.h>
+
+#include <iostream>
+#include <mutex>
+#include <string>
+#include <sstream>
+
+namespace rmw_zenoh_cpp
+{
+///=============================================================================
+enum LogLevel
+{
+  RMW_ZENOH_LOG_LEVEL_DEBUG,
+  RMW_ZENOH_LOG_LEVEL_INFO,
+  RMW_ZENOH_LOG_LEVEL_WARN,
+  RMW_ZENOH_LOG_LEVEL_ERROR,
+};
+
+///=============================================================================
+class Logger {
+public:
+  // Get a static reference to the logger.
+  static Logger & get();
+
+  // Set the threshold log level.
+  void set_log_level(LogLevel new_level);
+
+  // Log to the console.
+  template<typename ... Args>
+  void log_named(
+    LogLevel level,
+    const std::string & name,
+    const std::string & message,
+    const Args &... args) const
+  {
+    if (level >= threshold_level_) {
+      const auto time_now = std::chrono::system_clock::now().time_since_epoch();
+      const auto seconds =
+        std::chrono::duration_cast<std::chrono::seconds>(time_now).count();
+      auto nanoseconds =
+        std::chrono::duration_cast<std::chrono::nanoseconds>(
+          time_now - std::chrono::seconds(seconds)).count();
+      fmt::print(
+        fmt::fg(level_to_color(level)),
+        "[{}] [{}.{}] [{}]: {}\n",
+        level_to_string(level),
+        seconds,
+        nanoseconds,
+        name,
+        fmt::sprintf(message, args ...)
+      );
+    }
+  }
+
+private:
+  LogLevel threshold_level_;
+  explicit Logger(LogLevel threshold_level);
+  fmt::color level_to_color(LogLevel level) const;
+  std::string level_to_string(LogLevel level) const;
+};
+
+}  // namespace rmw_zenoh_cpp
+
+#endif  // DETAIL__LOGGING_HPP_
diff --git a/rmw_zenoh_cpp/src/detail/logging_macros.hpp b/rmw_zenoh_cpp/src/detail/logging_macros.hpp
new file mode 100644
index 00000000..4d8cae91
--- /dev/null
+++ b/rmw_zenoh_cpp/src/detail/logging_macros.hpp
@@ -0,0 +1,37 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef DETAIL__LOGGING_MACROS_HPP_
+#define DETAIL__LOGGING_MACROS_HPP_
+
+#include "logging.hpp"
+
+///=============================================================================
+// We define custom logging marcos to log to console as it was discovered
+// that relying on RCUTILS_LOG_X_NAMED functions also end up logging over /rosout
+// which can lead to deadlocks in rmw_zenoh especially when multiple threads
+// invoke GraphCache::parse_put() and GraphCache::parse_del() functions.
+// See https://github.com/ros2/rmw_zenoh/issues/182 for more details.
+// Note: Consider adding a set_rmw_log_level() API to rmw which can override the
+// default log level at the RMW layer.
+#define RMW_ZENOH_LOG_DEBUG_NAMED(...)   { \
+  rmw_zenoh_cpp::Logger::get().log_named(rmw_zenoh_cpp::RMW_ZENOH_LOG_LEVEL_DEBUG, __VA_ARGS__);}
+#define RMW_ZENOH_LOG_ERROR_NAMED(...)  { \
+  rmw_zenoh_cpp::Logger::get().log_named(rmw_zenoh_cpp::RMW_ZENOH_LOG_LEVEL_ERROR, __VA_ARGS__);}
+#define RMW_ZENOH_LOG_INFO_NAMED(...)  { \
+  rmw_zenoh_cpp::Logger::get().log_named(rmw_zenoh_cpp::RMW_ZENOH_LOG_LEVEL_INFO, __VA_ARGS__);}
+#define RMW_ZENOH_LOG_WARN_NAMED(...)   { \
+  rmw_zenoh_cpp::Logger::get().log_named(rmw_zenoh_cpp::RMW_ZENOH_LOG_LEVEL_WARN, __VA_ARGS__);}
+
+#endif   // DETAIL__LOGGING_MACROS_HPP_
diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
index c2b94ffb..4ebdfa03 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
@@ -23,8 +23,9 @@
 #include <string>
 #include <utility>
 
+#include "logging_macros.hpp"
+
 #include "rcpputils/scope_exit.hpp"
-#include "rcutils/logging_macros.h"
 
 #include "rmw/error_handling.h"
 
@@ -140,7 +141,7 @@ void rmw_subscription_data_t::add_new_message(
 
   if (message_queue_.size() >= adapted_qos_profile.depth) {
     // Log warning if message is discarded due to hitting the queue depth
-    RCUTILS_LOG_DEBUG_NAMED(
+    RMW_ZENOH_LOG_DEBUG_NAMED(
       "rmw_zenoh_cpp",
       "Message queue depth of %ld reached, discarding oldest message "
       "for subscription for %s",
@@ -237,7 +238,7 @@ void rmw_service_data_t::add_new_query(std::unique_ptr<ZenohQuery> query)
   if (query_queue_.size() >= adapted_qos_profile.depth) {
     // Log warning if message is discarded due to hitting the queue depth
     z_owned_str_t keystr = z_keyexpr_to_string(z_loan(this->keyexpr));
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Query queue depth of %ld reached, discarding oldest Query "
       "for service for %s",
@@ -330,7 +331,7 @@ void rmw_client_data_t::add_new_reply(std::unique_ptr<ZenohReply> reply)
   if (reply_queue_.size() >= adapted_qos_profile.depth) {
     // Log warning if message is discarded due to hitting the queue depth
     z_owned_str_t keystr = z_keyexpr_to_string(z_loan(this->keyexpr));
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Reply queue depth of %ld reached, discarding oldest reply "
       "for client for %s",
@@ -396,7 +397,7 @@ void sub_data_handler(
 
   auto sub_data = static_cast<rmw_subscription_data_t *>(data);
   if (sub_data == nullptr) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to obtain rmw_subscription_data_t from data for "
       "subscription for %s",
@@ -410,7 +411,8 @@ void sub_data_handler(
     // We failed to get the GID from the attachment.  While this isn't fatal,
     // it is unusual and so we should report it.
     memset(pub_gid, 0, RMW_GID_STORAGE_SIZE);
-    RCUTILS_LOG_ERROR_NAMED("rmw_zenoh_cpp", "Unable to obtain publisher GID from the attachment.");
+    RMW_ZENOH_LOG_ERROR_NAMED("rmw_zenoh_cpp",
+        "Unable to obtain publisher GID from the attachment.");
   }
 
   int64_t sequence_number = get_int64_from_attachment(&sample->attachment, "sequence_number");
@@ -418,7 +420,7 @@ void sub_data_handler(
     // We failed to get the sequence number from the attachment.  While this
     // isn't fatal, it is unusual and so we should report it.
     sequence_number = 0;
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp", "Unable to obtain sequence number from the attachment.");
   }
 
@@ -427,7 +429,7 @@ void sub_data_handler(
     // We failed to get the source timestamp from the attachment.  While this
     // isn't fatal, it is unusual and so we should report it.
     source_timestamp = 0;
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp", "Unable to obtain sequence number from the attachment.");
   }
 
@@ -467,7 +469,7 @@ void service_data_handler(const z_query_t * query, void * data)
   rmw_service_data_t * service_data =
     static_cast<rmw_service_data_t *>(data);
   if (service_data == nullptr) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to obtain rmw_service_data_t from data for "
       "service for %s",
@@ -513,14 +515,14 @@ void client_data_handler(z_owned_reply_t * reply, void * data)
 {
   auto client_data = static_cast<rmw_client_data_t *>(data);
   if (client_data == nullptr) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to obtain client_data_t "
     );
     return;
   }
   if (!z_reply_check(reply)) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "z_reply_check returned False"
     );
@@ -529,12 +531,12 @@ void client_data_handler(z_owned_reply_t * reply, void * data)
   if (!z_reply_is_ok(reply)) {
     z_owned_str_t keystr = z_keyexpr_to_string(z_loan(client_data->keyexpr));
     z_value_t err = z_reply_err(reply);
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "z_reply_is_ok returned False for keyexpr %s. Reason: %.*s",
       z_loan(keystr),
       (int)err.payload.len,
-      err.payload.start);
+      fmt::ptr(err.payload.start));
     z_drop(z_move(keystr));
 
     return;
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp
index dcf2048c..5cb29172 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp
@@ -15,11 +15,12 @@
 #include "zenoh_config.hpp"
 
 #include <rcutils/env.h>
-#include <rcutils/logging_macros.h>
 
 #include <limits>
 #include <string>
 
+#include "logging_macros.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rmw/impl/cpp/macros.hpp>
 
@@ -50,7 +51,7 @@ rmw_ret_t _get_z_config(
   // Get the path to the zenoh configuration file from the environment variable.
   if (NULL != rcutils_get_env(envar_name, &envar_uri)) {
     // NULL is returned if everything is ok.
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp", "Envar %s cannot be read.", envar_name);
     return RMW_RET_ERROR;
   }
@@ -66,12 +67,12 @@ rmw_ret_t _get_z_config(
   }
   // Verify that the configuration is valid.
   if (!z_config_check(config)) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Invalid configuration file %s", configured_uri);
     return RMW_RET_ERROR;
   }
-  RCUTILS_LOG_DEBUG_NAMED(
+  RMW_ZENOH_LOG_DEBUG_NAMED(
     "rmw_zenoh_cpp",
     "configured using configuration file %s", configured_uri);
   return RMW_RET_OK;
@@ -83,7 +84,7 @@ rmw_ret_t get_z_config(const ConfigurableEntity & entity, z_owned_config_t * con
 {
   auto envar_map_it = envar_map.find(entity);
   if (envar_map_it == envar_map.end()) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp", "get_z_config called with invalid ConfigurableEntity.");
     return RMW_RET_ERROR;
   }
@@ -104,7 +105,7 @@ std::optional<uint64_t> zenoh_router_check_attempts()
 
   if (NULL != rcutils_get_env(router_check_attempts_envar, &envar_value)) {
     // NULL is returned if everything is ok.
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp", "Envar %s cannot be read. Report this bug.",
       router_check_attempts_envar);
     return default_value;
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
index b23ccb1a..ead5ca5a 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
@@ -15,12 +15,12 @@
 #include "zenoh_router_check.hpp"
 
 #include <rcutils/env.h>
-#include <rcutils/logging_macros.h>
 
 #include <iomanip>
 #include <sstream>
 #include <string>
 
+#include "logging_macros.hpp"
 #include "liveliness_utils.hpp"
 
 namespace rmw_zenoh_cpp
@@ -34,7 +34,7 @@ rmw_ret_t zenoh_router_check(z_session_t session)
   // Define callback
   auto callback = [](const struct z_id_t * id, void * ctx) {
       const std::string id_str = liveliness::zid_to_str(*id);
-      RCUTILS_LOG_INFO_NAMED(
+      RMW_ZENOH_LOG_INFO_NAMED(
         "rmw_zenoh_cpp",
         "Successfully connected to a Zenoh router with id %s.", id_str.c_str());
       // Note: Callback is guaranteed to never be called
@@ -45,13 +45,13 @@ rmw_ret_t zenoh_router_check(z_session_t session)
   rmw_ret_t ret = RMW_RET_OK;
   z_owned_closure_zid_t router_callback = z_closure(callback, nullptr /* drop */, &context);
   if (z_info_routers_zid(session, z_move(router_callback))) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Failed to evaluate if Zenoh routers are connected to the session.");
     ret = RMW_RET_ERROR;
   } else {
     if (context == 0) {
-      RCUTILS_LOG_ERROR_NAMED(
+      RMW_ZENOH_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
         "Unable to connect to a Zenoh router. "
         "Have you started a router with `ros2 run rmw_zenoh_cpp rmw_zenohd`?");
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index 04126ece..49308a76 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -26,7 +26,7 @@
 #include "detail/zenoh_router_check.hpp"
 
 #include "rcutils/env.h"
-#include "rcutils/logging_macros.h"
+#include "detail/logging_macros.hpp"
 #include "rcutils/strdup.h"
 #include "rcutils/types.h"
 
@@ -58,7 +58,7 @@ static void graph_sub_data_handler(
   rmw_context_impl_s * context_impl = static_cast<rmw_context_impl_s *>(
     data);
   if (context_impl == nullptr) {
-    RCUTILS_LOG_WARN_NAMED(
+    RMW_ZENOH_LOG_WARN_NAMED(
       "rmw_zenoh_cpp",
       "[graph_sub_data_handler] Unable to convert data into context_impl"
     );
@@ -78,7 +78,7 @@ static void graph_sub_data_handler(
 
   rmw_ret_t rmw_ret = rmw_trigger_guard_condition(context_impl->graph_guard_condition);
   if (RMW_RET_OK != rmw_ret) {
-    RCUTILS_LOG_WARN_NAMED(
+    RMW_ZENOH_LOG_WARN_NAMED(
       "rmw_zenoh_cpp",
       "[graph_sub_data_handler] Unable to trigger graph guard condition"
     );
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 8aa972b9..a139f191 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -33,6 +33,7 @@
 #include "detail/graph_cache.hpp"
 #include "detail/identifier.hpp"
 #include "detail/liveliness_utils.hpp"
+#include "detail/logging_macros.hpp"
 #include "detail/message_type_support.hpp"
 #include "detail/rmw_data_types.hpp"
 #include "detail/serialization_format.hpp"
@@ -41,7 +42,6 @@
 #include "rcpputils/scope_exit.hpp"
 
 #include "rcutils/env.h"
-#include "rcutils/logging_macros.h"
 #include "rcutils/strdup.h"
 #include "rcutils/types.h"
 
@@ -312,7 +312,7 @@ rmw_create_node(
     rmw_zenoh_cpp::liveliness::NodeInfo{context->actual_domain_id, namespace_, name,
       context->impl->enclave});
   if (node_data->entity == nullptr) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to generate keyexpr for liveliness token for the node.");
     return nullptr;
@@ -327,7 +327,7 @@ rmw_create_node(
       z_drop(z_move(node_data->token));
     });
   if (!z_check(node_data->token)) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the node.");
     return nullptr;
@@ -693,7 +693,7 @@ rmw_create_publisher(
       publisher_data->adapted_qos_profile}
   );
   if (publisher_data->entity == nullptr) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to generate keyexpr for liveliness token for the publisher.");
     return nullptr;
@@ -710,7 +710,7 @@ rmw_create_publisher(
       }
     });
   if (!z_check(publisher_data->token)) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the publisher.");
     return nullptr;
@@ -1535,7 +1535,7 @@ rmw_create_subscription(
       sub_data->adapted_qos_profile}
   );
   if (sub_data->entity == nullptr) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to generate keyexpr for liveliness token for the subscription.");
     return nullptr;
@@ -1552,7 +1552,7 @@ rmw_create_subscription(
       }
     });
   if (!z_check(sub_data->token)) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the subscription.");
     return nullptr;
@@ -2235,7 +2235,7 @@ rmw_create_client(
   if (std::string::npos != suffix_substring_position) {
     service_type = service_type.substr(0, suffix_substring_position);
   } else {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unexpected type %s for client %s. Report this bug",
       service_type.c_str(), rmw_client->service_name);
@@ -2287,7 +2287,7 @@ rmw_create_client(
       client_data->adapted_qos_profile}
   );
   if (client_data->entity == nullptr) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to generate keyexpr for liveliness token for the client.");
     return nullptr;
@@ -2304,7 +2304,7 @@ rmw_create_client(
       }
     });
   if (!z_check(client_data->token)) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the client.");
     return nullptr;
@@ -2800,7 +2800,7 @@ rmw_create_service(
   if (std::string::npos != suffix_substring_position) {
     service_type = service_type.substr(0, suffix_substring_position);
   } else {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unexpected type %s for service %s. Report this bug",
       service_type.c_str(), rmw_service->service_name);
@@ -2875,7 +2875,7 @@ rmw_create_service(
       service_data->adapted_qos_profile}
   );
   if (service_data->entity == nullptr) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to generate keyexpr for liveliness token for the service.");
     return nullptr;
@@ -2892,7 +2892,7 @@ rmw_create_service(
       }
     });
   if (!z_check(service_data->token)) {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the service.");
     return nullptr;
@@ -3858,7 +3858,7 @@ rmw_service_server_is_available(
   if (std::string::npos != suffix_substring_position) {
     service_type = service_type.substr(0, suffix_substring_position);
   } else {
-    RCUTILS_LOG_ERROR_NAMED(
+    RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unexpected type %s for client %s. Report this bug",
       service_type.c_str(), client->service_name);