diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
index 0202e4e70b..617acce5a9 100755
--- a/realsense2_camera/src/base_realsense_node.cpp
+++ b/realsense2_camera/src/base_realsense_node.cpp
@@ -34,7 +34,11 @@ SyncedImuPublisher::SyncedImuPublisher(rclcpp::Publisher<sensor_msgs::msg::Imu>:
 
 SyncedImuPublisher::~SyncedImuPublisher()
 {
-    PublishPendingMessages();
+    try
+    {
+        PublishPendingMessages();
+    }
+    catch(...){} // Not allowed to throw from Dtor
 }
 
 void SyncedImuPublisher::Publish(sensor_msgs::msg::Imu imu_msg)
@@ -149,10 +153,14 @@ BaseRealSenseNode::~BaseRealSenseNode()
         _monitoring_pc->join();
     }
     clearParameters();
-    for(auto&& sensor : _available_ros_sensors)
+    try
     {
-        sensor->stop();
+        for(auto&& sensor : _available_ros_sensors)
+        {
+            sensor->stop();
+        }
     }
+    catch(...){} // Not allowed to throw from Dtor
 }
 
 void BaseRealSenseNode::hardwareResetRequest()
@@ -643,7 +651,11 @@ void BaseRealSenseNode::multiple_message_callback(rs2::frame frame, imu_sync_met
 
 bool BaseRealSenseNode::setBaseTime(double frame_time, rs2_timestamp_domain time_domain)
 {
-    ROS_WARN_ONCE(time_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME ? "Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)" : "");
+    if (time_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
+    {
+        ROS_WARN_ONCE("Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)");
+    }
+
     if (time_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK)
     {
         ROS_WARN("frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.");
diff --git a/realsense2_camera/src/profile_manager.cpp b/realsense2_camera/src/profile_manager.cpp
index 95dadbbad6..25b11d110e 100644
--- a/realsense2_camera/src/profile_manager.cpp
+++ b/realsense2_camera/src/profile_manager.cpp
@@ -39,7 +39,9 @@ std::string applyTemplateName(std::string template_name, stream_index_pair sip)
     const std::string stream_name(create_graph_resource_name(STREAM_NAME(sip)));
     char* param_name = new char[template_name.size() + stream_name.size()];
     sprintf(param_name, template_name.c_str(), stream_name.c_str());
-    return std::string(param_name);
+    std::string full_name(param_name);
+    delete [] param_name;
+    return full_name;
 }
 
 void ProfilesManager::registerSensorQOSParam(std::string template_name, 
diff --git a/realsense2_camera/src/ros_sensor.cpp b/realsense2_camera/src/ros_sensor.cpp
index 35a4ef8ca3..0a26f85937 100644
--- a/realsense2_camera/src/ros_sensor.cpp
+++ b/realsense2_camera/src/ros_sensor.cpp
@@ -78,8 +78,12 @@ RosSensor::RosSensor(rs2::sensor sensor,
 
 RosSensor::~RosSensor()
 {
-    clearParameters();
-    stop();
+    try
+    {
+        clearParameters();
+        stop();
+    }
+    catch(...){} // Not allowed to throw from Dtor
 }
 
 void RosSensor::setParameters(bool is_rosbag_file)