diff --git a/common/macros.h b/common/macros.h
index f1b5bc6..48b54d9 100644
--- a/common/macros.h
+++ b/common/macros.h
@@ -1,8 +1,14 @@
 #pragma once
 
+#include <iomanip>
 #include <memory>
 #include <mutex>
 
+// #define LOG_TIMESTAMP(timestamp, precision)
+//   std::fixed << std::precision(precision) << timestamp;
+#define LOG_TIMESTAMP(timestamp) \
+  std::fixed << std::setprecision(3) << timestamp;
+
 #define DISALLOW_COPY_AND_ASSIGN(classname) \
   classname(const classname &) = delete;    \
   classname &operator=(const classname &) = delete;
diff --git a/main.cc b/main.cc
index 769ec4e..b217754 100644
--- a/main.cc
+++ b/main.cc
@@ -28,11 +28,6 @@ int main(int argc, char* argv[]) {
   if (!slam.Init()) {
     AFATAL << "Failed to initilize slam system.";
   }
-  ADEBUG << "DEBUG";
-  AINFO << "INFO";
-  AWARN << "WARN";
-  AERROR << "ERROR";
-  AFATAL << "FATAL";
 
   // ros
   ros::init(argc, argv, "oh_my_loam");
@@ -49,7 +44,7 @@ void PointCloudHandler(const sensor_msgs::PointCloud2ConstPtr& msg,
                        OhMyLoam* const slam) {
   PointCloud cloud;
   pcl::fromROSMsg(*msg, cloud);
-  AINFO << "Point num = " << cloud.size()
-        << ", ts = " << msg->header.stamp.toSec();
+  ADEBUG << "Point num = " << cloud.size()
+         << ", ts = " << LOG_TIMESTAMP(msg->header.stamp.toSec());
   slam->Run(cloud, 0.0);
 }
\ No newline at end of file
diff --git a/src/feature_points_extractor/base_feature_points_extractor.cc b/src/feature_points_extractor/base_feature_points_extractor.cc
index 4918f16..89f9358 100644
--- a/src/feature_points_extractor/base_feature_points_extractor.cc
+++ b/src/feature_points_extractor/base_feature_points_extractor.cc
@@ -14,7 +14,7 @@ const int kMinPtsNum = 100;
 bool FeaturePointsExtractor::Init(const YAML::Node& config) {
   config_ = config;
   is_vis_ = Config::Instance()->Get<bool>("vis") && config_["vis"].as<bool>();
-  AINFO << "Feature points visualization: " << (is_vis_ ? "ON" : "OFF");
+  AINFO << "Feature points extraction visualizer: " << (is_vis_ ? "ON" : "OFF");
   if (is_vis_) visualizer_.reset(new FeaturePointsVisualizer);
   return true;
 }
@@ -22,10 +22,9 @@ bool FeaturePointsExtractor::Init(const YAML::Node& config) {
 void FeaturePointsExtractor::Extract(const PointCloud& cloud_in,
                                      FeaturePoints* const feature) {
   PointCloudPtr cloud(new PointCloud);
-  AINFO << "BEFORE REMOVE, num = " << cloud_in.size();
   RemoveNaNPoint<Point>(cloud_in, cloud.get());
   RemoveClosedPoints<Point>(*cloud, cloud.get(), kPointMinDist);
-  AINFO << "AFTER REMOVE, num = " << cloud->size();
+  ADEBUG << "AFTER REMOVE, point num = " << cloud->size();
   if (cloud->size() < kMinPtsNum) {
     return;
   }
@@ -41,7 +40,7 @@ void FeaturePointsExtractor::Extract(const PointCloud& cloud_in,
     oss << scan.size() << " ";
     AssignPointType(&scan);
   }
-  AWARN << oss.str();
+  ADEBUG << oss.str();
   for (const auto& scan : scans) {
     *feature->feature_pts += scan;
     for (const auto& pt : scan.points) {
diff --git a/src/feature_points_extractor/feature_points_extractor_VLP16.cc b/src/feature_points_extractor/feature_points_extractor_VLP16.cc
index 2b85322..bdbf312 100644
--- a/src/feature_points_extractor/feature_points_extractor_VLP16.cc
+++ b/src/feature_points_extractor/feature_points_extractor_VLP16.cc
@@ -6,10 +6,10 @@ int FeaturePointsExtractorVLP16::GetScanID(const Point& pt) const {
   static int i = 0;
   double omega = std::atan2(pt.z, Distance(pt)) * 180 * M_1_PI + 15.0;
   if (i++ < 10) {
-    AWARN << "OMEGA: " << std::atan2(pt.z, Distance(pt)) * 180 * M_1_PI + 15.0
-          << " id = " << static_cast<int>(std::round(omega / 2.0) + 0.01)
-          << " z = " << pt.z << " "
-          << " d = " << Distance(pt) << std::endl;
+    ADEBUG << "OMEGA: " << std::atan2(pt.z, Distance(pt)) * 180 * M_1_PI + 15.0
+           << " id = " << static_cast<int>(std::round(omega / 2.0) + 0.01)
+           << " z = " << pt.z << " "
+           << " d = " << Distance(pt) << std::endl;
   }
   return static_cast<int>(std::round(omega / 2.0) + 1.e-5);
 };