diff --git a/imu_filter_madgwick/src/imu_filter_ros.cpp b/imu_filter_madgwick/src/imu_filter_ros.cpp
index 33dab25f..5828c162 100644
--- a/imu_filter_madgwick/src/imu_filter_ros.cpp
+++ b/imu_filter_madgwick/src/imu_filter_ros.cpp
@@ -543,12 +543,14 @@ void ImuFilterMadgwickRos::reconfigCallback(
 void ImuFilterMadgwickRos::checkTopicsTimerCallback()
 {
     if (use_mag_)
-        RCLCPP_WARN_STREAM(
-            get_logger(),
-            "Still waiting for data on topics /imu/data_raw and /imu/mag...");
-    else
         RCLCPP_WARN_STREAM(get_logger(),
-                           "Still waiting for data on topic /imu/data_raw...");
+                           "Still waiting for data on topics "
+                               << imu_subscriber_->getTopic() << " and "
+                               << mag_subscriber_->getTopic() << "...");
+    else
+        RCLCPP_WARN_STREAM(get_logger(), "Still waiting for data on topic "
+                                             << imu_subscriber_->getTopic()
+                                             << "...");
 }
 
 #include "rclcpp_components/register_node_macro.hpp"