diff --git a/src/buffer_core.cpp b/src/buffer_core.cpp
index 6483ada..75b827d 100644
--- a/src/buffer_core.cpp
+++ b/src/buffer_core.cpp
@@ -123,7 +123,7 @@ bool BufferCore::warnFrameId(const char* function_name_arg, const std::string& f
   {
     std::stringstream ss;
     ss << "Invalid argument passed to "<< function_name_arg <<" in tf2 frame_ids cannot be empty";
-    logWarn("%s",ss.str().c_str());
+    CONSOLE_BRIDGE_logWarn("%s",ss.str().c_str());
     return true;
   }
 
@@ -131,7 +131,7 @@ bool BufferCore::warnFrameId(const char* function_name_arg, const std::string& f
   {
     std::stringstream ss;
     ss << "Invalid argument \"" << frame_id << "\" passed to "<< function_name_arg <<" in tf2 frame_ids cannot start with a '/' like: ";
-    logWarn("%s",ss.str().c_str());
+    CONSOLE_BRIDGE_logWarn("%s",ss.str().c_str());
     return true;
   }
 
@@ -218,26 +218,26 @@ bool BufferCore::setTransform(const geometry_msgs::TransformStamped& transform_i
   bool error_exists = false;
   if (stripped.child_frame_id == stripped.header.frame_id)
   {
-    logError("TF_SELF_TRANSFORM: Ignoring transform from authority \"%s\" with frame_id and child_frame_id  \"%s\" because they are the same",  authority.c_str(), stripped.child_frame_id.c_str());
+    CONSOLE_BRIDGE_logError("TF_SELF_TRANSFORM: Ignoring transform from authority \"%s\" with frame_id and child_frame_id  \"%s\" because they are the same",  authority.c_str(), stripped.child_frame_id.c_str());
     error_exists = true;
   }
 
   if (stripped.child_frame_id == "")
   {
-    logError("TF_NO_CHILD_FRAME_ID: Ignoring transform from authority \"%s\" because child_frame_id not set ", authority.c_str());
+    CONSOLE_BRIDGE_logError("TF_NO_CHILD_FRAME_ID: Ignoring transform from authority \"%s\" because child_frame_id not set ", authority.c_str());
     error_exists = true;
   }
 
   if (stripped.header.frame_id == "")
   {
-    logError("TF_NO_FRAME_ID: Ignoring transform with child_frame_id \"%s\"  from authority \"%s\" because frame_id not set", stripped.child_frame_id.c_str(), authority.c_str());
+    CONSOLE_BRIDGE_logError("TF_NO_FRAME_ID: Ignoring transform with child_frame_id \"%s\"  from authority \"%s\" because frame_id not set", stripped.child_frame_id.c_str(), authority.c_str());
     error_exists = true;
   }
 
   if (std::isnan(stripped.transform.translation.x) || std::isnan(stripped.transform.translation.y) || std::isnan(stripped.transform.translation.z)||
       std::isnan(stripped.transform.rotation.x) ||       std::isnan(stripped.transform.rotation.y) ||       std::isnan(stripped.transform.rotation.z) ||       std::isnan(stripped.transform.rotation.w))
   {
-    logError("TF_NAN_INPUT: Ignoring transform for child_frame_id \"%s\" from authority \"%s\" because of a nan value in the transform (%f %f %f) (%f %f %f %f)",
+    CONSOLE_BRIDGE_logError("TF_NAN_INPUT: Ignoring transform for child_frame_id \"%s\" from authority \"%s\" because of a nan value in the transform (%f %f %f) (%f %f %f %f)",
               stripped.child_frame_id.c_str(), authority.c_str(),
               stripped.transform.translation.x, stripped.transform.translation.y, stripped.transform.translation.z,
               stripped.transform.rotation.x, stripped.transform.rotation.y, stripped.transform.rotation.z, stripped.transform.rotation.w
@@ -252,7 +252,7 @@ bool BufferCore::setTransform(const geometry_msgs::TransformStamped& transform_i
 
   if (!valid) 
   {
-    logError("TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id \"%s\" from authority \"%s\" because of an invalid quaternion in the transform (%f %f %f %f)",
+    CONSOLE_BRIDGE_logError("TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id \"%s\" from authority \"%s\" because of an invalid quaternion in the transform (%f %f %f %f)",
              stripped.child_frame_id.c_str(), authority.c_str(),
              stripped.transform.rotation.x, stripped.transform.rotation.y, stripped.transform.rotation.z, stripped.transform.rotation.w);
     error_exists = true;
@@ -274,7 +274,7 @@ bool BufferCore::setTransform(const geometry_msgs::TransformStamped& transform_i
     }
     else
     {
-      logWarn("TF_OLD_DATA ignoring data from the past for frame %s at time %g according to authority %s\nPossible reasons are listed at http://wiki.ros.org/tf/Errors%%20explained", stripped.child_frame_id.c_str(), stripped.header.stamp.toSec(), authority.c_str());
+      CONSOLE_BRIDGE_logWarn("TF_OLD_DATA ignoring data from the past for frame %s at time %g according to authority %s\nPossible reasons are listed at http://wiki.ros.org/tf/Errors%%20explained", stripped.child_frame_id.c_str(), stripped.header.stamp.toSec(), authority.c_str());
       return false;
     }
   }
@@ -633,7 +633,7 @@ geometry_msgs::TransformStamped BufferCore::lookupTransform(const std::string& t
     case tf2_msgs::TF2Error::LOOKUP_ERROR:
       throw LookupException(error_string);
     default:
-      logError("Unknown error code: %d", retval);
+      CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
       assert(0);
     }
   }
@@ -1604,7 +1604,7 @@ void BufferCore::_chainAsVector(const std::string & target_frame, ros::Time targ
     case tf2_msgs::TF2Error::LOOKUP_ERROR:
       throw LookupException(error_string);
     default:
-      logError("Unknown error code: %d", retval);
+      CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
       assert(0);
     }
   }
@@ -1623,7 +1623,7 @@ void BufferCore::_chainAsVector(const std::string & target_frame, ros::Time targ
     case tf2_msgs::TF2Error::LOOKUP_ERROR:
       throw LookupException(error_string);
     default:
-      logError("Unknown error code: %d", retval);
+      CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
       assert(0);
     }
   }
diff --git a/test/speed_test.cpp b/test/speed_test.cpp
index 30f43d4..c63ca18 100644
--- a/test/speed_test.cpp
+++ b/test/speed_test.cpp
@@ -105,11 +105,11 @@ int main(int argc, char** argv)
 
   std::string v_frame0 = boost::lexical_cast<std::string>(num_levels - 1);
   std::string v_frame1 = boost::lexical_cast<std::string>(num_levels/2 - 1);
-  logInform("%s to %s", v_frame0.c_str(), v_frame1.c_str());
+  CONSOLE_BRIDGE_logInform("%s to %s", v_frame0.c_str(), v_frame1.c_str());
   geometry_msgs::TransformStamped out_t;
 
   const uint32_t count = 1000000;
-  logInform("Doing %d %d-level %lf-interval tests", count, num_levels, time_interval);
+  CONSOLE_BRIDGE_logInform("Doing %d %d-level %lf-interval tests", count, num_levels, time_interval);
 
 #if 01
   {
@@ -121,7 +121,7 @@ int main(int argc, char** argv)
     ros::WallTime end = ros::WallTime::now();
     ros::WallDuration dur = end - start;
     //ROS_INFO_STREAM(out_t);
-    logInform("lookupTransform at Time(0) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
+    CONSOLE_BRIDGE_logInform("lookupTransform at Time(0) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
   }
 #endif
 
@@ -135,7 +135,7 @@ int main(int argc, char** argv)
     ros::WallTime end = ros::WallTime::now();
     ros::WallDuration dur = end - start;
     //ROS_INFO_STREAM(out_t);
-    logInform("lookupTransform at Time(1) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
+    CONSOLE_BRIDGE_logInform("lookupTransform at Time(1) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
   }
 #endif
 
@@ -149,7 +149,7 @@ int main(int argc, char** argv)
     ros::WallTime end = ros::WallTime::now();
     ros::WallDuration dur = end - start;
     //ROS_INFO_STREAM(out_t);
-    logInform("lookupTransform at Time(1.5) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
+    CONSOLE_BRIDGE_logInform("lookupTransform at Time(1.5) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
   }
 #endif
 
@@ -163,7 +163,7 @@ int main(int argc, char** argv)
     ros::WallTime end = ros::WallTime::now();
     ros::WallDuration dur = end - start;
     //ROS_INFO_STREAM(out_t);
-    logInform("lookupTransform at Time(2) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
+    CONSOLE_BRIDGE_logInform("lookupTransform at Time(2) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
   }
 #endif
 
@@ -177,7 +177,7 @@ int main(int argc, char** argv)
     ros::WallTime end = ros::WallTime::now();
     ros::WallDuration dur = end - start;
     //ROS_INFO_STREAM(out_t);
-    logInform("canTransform at Time(0) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
+    CONSOLE_BRIDGE_logInform("canTransform at Time(0) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
   }
 #endif
 
@@ -191,7 +191,7 @@ int main(int argc, char** argv)
     ros::WallTime end = ros::WallTime::now();
     ros::WallDuration dur = end - start;
     //ROS_INFO_STREAM(out_t);
-    logInform("canTransform at Time(1) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
+    CONSOLE_BRIDGE_logInform("canTransform at Time(1) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
   }
 #endif
 
@@ -205,7 +205,7 @@ int main(int argc, char** argv)
     ros::WallTime end = ros::WallTime::now();
     ros::WallDuration dur = end - start;
     //ROS_INFO_STREAM(out_t);
-    logInform("canTransform at Time(1.5) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
+    CONSOLE_BRIDGE_logInform("canTransform at Time(1.5) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
   }
 #endif
 
@@ -219,7 +219,7 @@ int main(int argc, char** argv)
     ros::WallTime end = ros::WallTime::now();
     ros::WallDuration dur = end - start;
     //ROS_INFO_STREAM(out_t);
-    logInform("canTransform at Time(2) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
+    CONSOLE_BRIDGE_logInform("canTransform at Time(2) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
   }
 #endif
 }