diff --git a/rosidl_typesupport_c/src/type_support_dispatch.hpp b/rosidl_typesupport_c/src/type_support_dispatch.hpp
index 4c7ae3e6..0633071f 100644
--- a/rosidl_typesupport_c/src/type_support_dispatch.hpp
+++ b/rosidl_typesupport_c/src/type_support_dispatch.hpp
@@ -26,6 +26,7 @@
 #include "rcpputils/shared_library.hpp"
 #include "rcutils/error_handling.h"
 #include "rcutils/snprintf.h"
+#include "rcutils/logging_macros.h"
 #include "rosidl_typesupport_c/identifier.h"
 #include "rosidl_typesupport_c/type_support_map.h"
 
@@ -110,9 +111,12 @@ get_typesupport_handle_function(
       return ts;
     }
   }
-  RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
-    "Handle's typesupport identifier (%s) is not supported by this library",
+
+  RCUTILS_LOG_DEBUG_NAMED(
+    "rosidl_typesupport_c",
+    "type support `%s` is not used by this library",
     handle->typesupport_identifier);
+  
   return nullptr;
 }
 
diff --git a/rosidl_typesupport_cpp/src/type_support_dispatch.hpp b/rosidl_typesupport_cpp/src/type_support_dispatch.hpp
index c662ffc2..911bb478 100644
--- a/rosidl_typesupport_cpp/src/type_support_dispatch.hpp
+++ b/rosidl_typesupport_cpp/src/type_support_dispatch.hpp
@@ -25,6 +25,7 @@
 #include "rcpputils/shared_library.hpp"
 #include "rcutils/error_handling.h"
 #include "rcutils/snprintf.h"
+#include "rcutils/logging_macros.h"
 #include "rosidl_typesupport_c/type_support_map.h"
 
 namespace rosidl_typesupport_cpp
@@ -108,9 +109,12 @@ get_typesupport_handle_function(
       return ts;
     }
   }
-  RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
-    "Handle's typesupport identifier (%s) is not supported by this library",
+
+  RCUTILS_LOG_DEBUG_NAMED(
+    "rosidl_typesupport_cpp",
+    "type support `%s` is not used by this library",
     handle->typesupport_identifier);
+
   return nullptr;
 }