diff --git a/moveit_core/robot_model/src/joint_model_group.cpp b/moveit_core/robot_model/src/joint_model_group.cpp
index ec53d5b7e6..331a4a5a8a 100644
--- a/moveit_core/robot_model/src/joint_model_group.cpp
+++ b/moveit_core/robot_model/src/joint_model_group.cpp
@@ -640,7 +640,7 @@ bool JointModelGroup::canSetStateFromIK(const std::string& tip) const
     // remove frame reference, if specified
     const std::string& tip_local = tip[0] == '/' ? tip.substr(1) : tip;
     const std::string& tip_frame_local = tip_frame[0] == '/' ? tip_frame.substr(1) : tip_frame;
-    RCLCPP_WARN(LOGGER, "comparing input tip: %s to this groups tip: %s ", tip_local.c_str(), tip_frame_local.c_str());
+    RCLCPP_DEBUG(LOGGER, "comparing input tip: %s to this groups tip: %s ", tip_local.c_str(), tip_frame_local.c_str());
 
     // Check if the IK solver's tip is the same as the frame of inquiry
     if (tip_local != tip_frame_local)