diff --git a/src/navigation.cpp b/src/navigation.cpp
index 9593cdb..01559f7 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -15,9 +15,9 @@ void Navigation::Init() {
     try {
         client_ = std::make_unique<unitree::robot::Client>(SLAM_SERVICE_NAME);
         client_->Init();
-        LOG_INFO("Navigation client for service '{}' initialized.", SLAM_SERVICE_NAME);
+        LOG_INFO("Navigation client for service '" + SLAM_SERVICE_NAME + "' initialized.");
     } catch (const std::exception& e) {
-        LOG_ERROR("Failed to initialize navigation client: {}", e.what());
+        LOG_ERROR("Failed to initialize navigation client: " + std::string(e.what()));
     }
 }
 
@@ -32,29 +32,29 @@ bool Navigation::callSlamService(int api_id, const nlohmann::json& data) {
     std::string request_str = request_json.dump();
     std::string response_str;
 
-    LOG_INFO("Calling slam service api_id: {}, request: {}", api_id, request_str);
+    LOG_INFO("Calling slam service api_id: " + std::to_string(api_id) + ", request: " + request_str);
     
     int ret = client_->Call(api_id, request_str, response_str);
 
     if (ret != 0) {
-        LOG_ERROR("Slam service request failed with SDK error code: {}", ret);
+        LOG_ERROR("Slam service request failed with SDK error code: " + std::to_string(ret));
         return false;
     }
     
-    LOG_INFO("Slam service response: {}", response_str);
+    LOG_INFO("Slam service response: " + response_str);
 
     try {
         nlohmann::json response_json = nlohmann::json::parse(response_str);
         if (response_json.contains("succeed") && response_json["succeed"].get<bool>()) {
-            LOG_INFO("Slam service call for api_id {} succeeded. Info: {}", api_id, response_json.value("info", ""));
+            LOG_INFO("Slam service call for api_id " + std::to_string(api_id) + " succeeded. Info: " + response_json.value("info", "").get<std::string>());
             return true;
         } else {
-            LOG_ERROR("Slam service call for api_id {} failed. Error code: {}, Info: {}", 
-                      api_id, response_json.value("errorCode", -1), response_json.value("info", ""));
+            LOG_ERROR("Slam service call for api_id " + std::to_string(api_id) + " failed. Error code: " + 
+                      std::to_string(response_json.value("errorCode", -1).get<int>()) + ", Info: " + response_json.value("info", "").get<std::string>());
             return false;
         }
     } catch (const nlohmann::json::parse_error& e) {
-        LOG_ERROR("Failed to parse slam service response: {}", e.what());
+        LOG_ERROR("Failed to parse slam service response: " + std::string(e.what()));
         return false;
     }
 }