diff --git a/include/logger.hpp b/include/logger.hpp
index 655a868..87e1f59 100644
--- a/include/logger.hpp
+++ b/include/logger.hpp
@@ -7,6 +7,8 @@
 #include <sstream>
 #include <chrono>
 #include <iomanip>
+#include <cstdio> // For snprintf
+#include <memory> // For std::unique_ptr
 
 namespace custom {
 
@@ -61,4 +63,64 @@ private:
 #define LOG_WARN(msg, ...) custom::Logger::getInstance().warn(msg, ##__VA_ARGS__)
 #define LOG_ERROR(msg, ...) custom::Logger::getInstance().error(msg, ##__VA_ARGS__)
 
+template<typename... Args>
+void Logger::log(LogLevel level, const char* format, Args... args)
+{
+    if (level < currentLevel_) {
+        return;
+    }
+
+    // A buffer to hold the formatted string.
+    // First, we try with a small buffer.
+    char buffer[256];
+    int size = snprintf(buffer, sizeof(buffer), format, args...);
+    if (size < 0) {
+        // Encoding error
+        error("Encoding error in log message.");
+        return;
+    }
+
+    std::string message;
+    if (size < sizeof(buffer)) {
+        // The message fit in the buffer.
+        message = buffer;
+    } else {
+        // The buffer was too small, we need to allocate a larger one.
+        std::unique_ptr<char[]> dynamic_buffer(new char[size + 1]);
+        int new_size = snprintf(dynamic_buffer.get(), size + 1, format, args...);
+        if (new_size >= 0 && new_size <= size) {
+            message = dynamic_buffer.get();
+        } else {
+            error("Encoding error in log message after buffer resize.");
+            return;
+        }
+    }
+
+    log(level, message);
+}
+
+template<typename... Args>
+void Logger::debug(const char* format, Args... args)
+{
+    log(LogLevel::DEBUG, format, args...);
+}
+
+template<typename... Args>
+void Logger::info(const char* format, Args... args)
+{
+    log(LogLevel::INFO, format, args...);
+}
+
+template<typename... Args>
+void Logger::warn(const char* format, Args... args)
+{
+    log(LogLevel::WARN, format, args...);
+}
+
+template<typename... Args>
+void Logger::error(const char* format, Args... args)
+{
+    log(LogLevel::ERROR, format, args...);
+}
+
 } // namespace custom
diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index f723717..5ebb37e 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -321,13 +321,13 @@ bool CustomRobot::processLowCmd(const std::string& cmd, const nlohmann::json& me
         }
         else
         {
-            LOG_ERROR("Unknown Low command: " + cmd);
+            LOG_ERROR("Unknown Low command: %s", cmd.c_str());
             return false;
         }
     }
     catch (const std::exception& e)
     {
-        LOG_ERROR("Error executing Low command " + cmd + ": " + std::string(e.what()));
+        LOG_ERROR("Error executing Low command %s: %s", cmd.c_str(), e.what());
         return false;
     }
 }
diff --git a/src/logger.cpp b/src/logger.cpp
index 8c5c86e..cfcabe2 100644
--- a/src/logger.cpp
+++ b/src/logger.cpp
@@ -46,42 +46,6 @@ void Logger::log(LogLevel level, const std::string& message) {
     }
 }
 
-template<typename... Args>
-void Logger::log(LogLevel level, const char* format, Args... args)
-{
-    if (level < currentLevel_) {
-        return;
-    }
-
-    // A buffer to hold the formatted string.
-    // First, we try with a small buffer.
-    char buffer[256];
-    int size = snprintf(buffer, sizeof(buffer), format, args...);
-    if (size < 0) {
-        // Encoding error
-        error("Encoding error in log message.");
-        return;
-    }
-
-    std::string message;
-    if (size < sizeof(buffer)) {
-        // The message fit in the buffer.
-        message = buffer;
-    } else {
-        // The buffer was too small, we need to allocate a larger one.
-        std::unique_ptr<char[]> dynamic_buffer(new char[size + 1]);
-        int new_size = snprintf(dynamic_buffer.get(), size + 1, format, args...);
-        if (new_size >= 0 && new_size <= size) {
-            message = dynamic_buffer.get();
-        } else {
-            error("Encoding error in log message after buffer resize.");
-            return;
-        }
-    }
-
-    log(level, message);
-}
-
 void Logger::debug(const std::string& message) {
     log(LogLevel::DEBUG, message);
 }
@@ -98,30 +62,6 @@ void Logger::error(const std::string& message) {
     log(LogLevel::ERROR, message);
 }
 
-template<typename... Args>
-void Logger::debug(const char* format, Args... args)
-{
-    log(LogLevel::DEBUG, format, args...);
-}
-
-template<typename... Args>
-void Logger::info(const char* format, Args... args)
-{
-    log(LogLevel::INFO, format, args...);
-}
-
-template<typename... Args>
-void Logger::warn(const char* format, Args... args)
-{
-    log(LogLevel::WARN, format, args...);
-}
-
-template<typename... Args>
-void Logger::error(const char* format, Args... args)
-{
-    log(LogLevel::ERROR, format, args...);
-}
-
 std::string Logger::getCurrentTime() {
     auto now = std::chrono::system_clock::now();
     auto time_t = std::chrono::system_clock::to_time_t(now);