diff --git a/sophus/common.hpp b/sophus/common.hpp
index 5634d35b0..a89c35a69 100644
--- a/sophus/common.hpp
+++ b/sophus/common.hpp
@@ -210,22 +210,22 @@ class optional {
   explicit operator bool() const { return is_valid_; }
 
   T const* operator->() const {
-    SOPHUS_ENSURE(is_valid_, "must be valid");
+    SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
     return &type_;
   }
 
   T* operator->() {
-    SOPHUS_ENSURE(is_valid_, "must be valid");
+    SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
     return &type_;
   }
 
   T const& operator*() const {
-    SOPHUS_ENSURE(is_valid_, "must be valid");
+    SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
     return type_;
   }
 
   T& operator*() {
-    SOPHUS_ENSURE(is_valid_, "must be valid");
+    SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
     return type_;
   }
 
diff --git a/sophus/se2.hpp b/sophus/se2.hpp
index 5851411b7..911c5bb64 100644
--- a/sophus/se2.hpp
+++ b/sophus/se2.hpp
@@ -660,7 +660,7 @@ class SE2 : public SE2Base<SE2<Scalar_, Options>> {
   /// Precondition: ``i`` must be in 0, 1 or 2.
   ///
   SOPHUS_FUNC static Transformation generator(int i) {
-    SOPHUS_ENSURE(i >= 0 || i <= 2, "i should be in range [0,2].");
+    SOPHUS_ENSURE(i >= 0 || i <= 2, "%s", "i should be in range [0,2].");
     Tangent e;
     e.setZero();
     e[i] = Scalar(1);
diff --git a/sophus/se3.hpp b/sophus/se3.hpp
index f65a13e0f..699ed87df 100644
--- a/sophus/se3.hpp
+++ b/sophus/se3.hpp
@@ -908,7 +908,7 @@ class SE3 : public SE3Base<SE3<Scalar_, Options>> {
   /// Precondition: ``i`` must be in [0, 5].
   ///
   SOPHUS_FUNC static Transformation generator(int i) {
-    SOPHUS_ENSURE(i >= 0 && i <= 5, "i should be in range [0,5].");
+    SOPHUS_ENSURE(i >= 0 && i <= 5, "%s", "i should be in range [0,5].");
     Tangent e;
     e.setZero();
     e[i] = Scalar(1);
diff --git a/sophus/so2.hpp b/sophus/so2.hpp
index dcdabd733..d3331dc7b 100644
--- a/sophus/so2.hpp
+++ b/sophus/so2.hpp
@@ -174,7 +174,7 @@ class SO2Base {
     using std::hypot;
     // Avoid under/overflows for higher precision
     Scalar length = hypot(unit_complex().x(), unit_complex().y());
-    SOPHUS_ENSURE(length >= Constants<Scalar>::epsilon(),
+    SOPHUS_ENSURE(length >= Constants<Scalar>::epsilon(), "%s",
                   "Complex number should not be close to zero!");
     unit_complex_nonconst() /= length;
   }
diff --git a/sophus/so3.hpp b/sophus/so3.hpp
index 67dd852fd..dd56067c0 100644
--- a/sophus/so3.hpp
+++ b/sophus/so3.hpp
@@ -693,7 +693,7 @@ class SO3 : public SO3Base<SO3<Scalar_, Options>> {
   ///
   SOPHUS_FUNC static SO3<Scalar> expAndTheta(Tangent const& omega,
                                              Scalar* theta) {
-    SOPHUS_ENSURE(theta != nullptr, "must not be nullptr.");
+    SOPHUS_ENSURE(theta != nullptr, "%s", "must not be nullptr.");
     using std::abs;
     using std::cos;
     using std::sin;
@@ -759,7 +759,7 @@ class SO3 : public SO3Base<SO3<Scalar_, Options>> {
   /// Precondition: ``i`` must be 0, 1 or 2.
   ///
   SOPHUS_FUNC static Transformation generator(int i) {
-    SOPHUS_ENSURE(i >= 0 && i <= 2, "i should be in range [0,2].");
+    SOPHUS_ENSURE(i >= 0 && i <= 2, "%s", "i should be in range [0,2].");
     Tangent e;
     e.setZero();
     e[i] = Scalar(1);