diff --git a/gazebo_msgs/srv/GetEntityState.srv b/gazebo_msgs/srv/GetEntityState.srv
index f62f1171b..642721782 100644
--- a/gazebo_msgs/srv/GetEntityState.srv
+++ b/gazebo_msgs/srv/GetEntityState.srv
@@ -9,4 +9,3 @@ std_msgs/Header header               # Standard metadata for higher-level stampe
                                      # * header.frame_id Filled with the relative_frame.
 gazebo_msgs/EntityState state        # Contains pose and twist.
 bool success                         # Return true if get was successful. If false, the state contains garbage.
-string status_message                # Comments if available.
diff --git a/gazebo_msgs/srv/SetEntityState.srv b/gazebo_msgs/srv/SetEntityState.srv
index 0cc226f4a..457f7e525 100644
--- a/gazebo_msgs/srv/SetEntityState.srv
+++ b/gazebo_msgs/srv/SetEntityState.srv
@@ -2,4 +2,3 @@ gazebo_msgs/EntityState state   # Entity state to set to.
                                 # Be sure to fill all fields, values of zero have meaning.
 ---
 bool success                    # Return true if setting state was successful.
-string status_message           # Comments if available.
diff --git a/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world b/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world
index a2806b5f6..386f95635 100644
--- a/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world
+++ b/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world
@@ -14,7 +14,7 @@
 
   Try listening to TF:
 
-    ros2 run tf2_ros tf2_echo odom chassis
+    ros2 run tf2_ros tf2_echo odom_demo chassis
 
     ros2 run tf2_ros tf2_echo chassis right_wheel
 
diff --git a/gazebo_ros/src/gazebo_ros_state.cpp b/gazebo_ros/src/gazebo_ros_state.cpp
index 32dd0397c..8cb08680f 100644
--- a/gazebo_ros/src/gazebo_ros_state.cpp
+++ b/gazebo_ros/src/gazebo_ros_state.cpp
@@ -95,9 +95,9 @@ void GazeboRosStatePrivate::GetEntityState(
   auto entity = world_->EntityByName(_req->name);
   if (!entity) {
     _res->success = false;
-    _res->status_message = "GetEntityState: entity [" + _req->name + "] does not exist";
 
-    RCLCPP_ERROR(ros_node_->get_logger(), _res->status_message.c_str());
+    RCLCPP_ERROR(ros_node_->get_logger(),
+      "GetEntityState: entity [%s] does not exist", _req->name);
     return;
   }
 
@@ -122,10 +122,10 @@ void GazeboRosStatePrivate::GetEntityState(
       "GetEntityState: reference_frame is empty/world, using inertial frame");
   } else {
     _res->success = false;
-    _res->status_message = "GetEntityState: reference entity [" + _req->name +
-      "] not found, did you forget to scope the entity's name?";
 
-    RCLCPP_ERROR(ros_node_->get_logger(), _res->status_message.c_str());
+    RCLCPP_ERROR(ros_node_->get_logger(),
+      "GetEntityState: reference entity [%s] not found, did you forget to scope the entity name?",
+      _req->name);
     return;
   }
 
@@ -140,7 +140,6 @@ void GazeboRosStatePrivate::GetEntityState(
   _res->state.twist.angular = Convert<geometry_msgs::msg::Vector3>(entity_ang_vel);
 
   _res->success = true;
-  _res->status_message = "GetEntityState: got entity state";
 }
 
 void GazeboRosStatePrivate::SetEntityState(
@@ -161,9 +160,9 @@ void GazeboRosStatePrivate::SetEntityState(
   auto entity = world_->EntityByName(_req->state.name);
   if (!entity) {
     _res->success = false;
-    _res->status_message = "SetEntityState: entity [" + _req->state.name + "] does not exist";
 
-    RCLCPP_ERROR(ros_node_->get_logger(), _res->status_message.c_str());
+    RCLCPP_ERROR(ros_node_->get_logger(),
+      "SetEntityState: entity [%s] does not exist", _req->state.name);
     return;
   }
 
@@ -182,10 +181,10 @@ void GazeboRosStatePrivate::SetEntityState(
       "SetEntityState: reference_frame is empty/world, using inertial frame");
   } else {
     _res->success = false;
-    _res->status_message = "GetEntityState: reference entity [" + _req->state.name +
-      "] not found, did you forget to scope the entity's name?";
 
-    RCLCPP_ERROR(ros_node_->get_logger(), _res->status_message.c_str());
+    RCLCPP_ERROR(ros_node_->get_logger(),
+      "GetEntityState: reference entity [%s] not found, did you forget to scope the entity name?",
+      _req->state.name);
     return;
   }
 
@@ -210,7 +209,6 @@ void GazeboRosStatePrivate::SetEntityState(
 
   // Fill response
   _res->success = true;
-  _res->status_message = "SetEntityState: set entity state done";
 }
 
 GZ_REGISTER_WORLD_PLUGIN(GazeboRosState)