diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
index e5762482e69b710fa361bf26dd5705849b4b0efb..35f54669285b085c2c14fb7929585f2bba6bc0c0 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
@@ -176,7 +176,7 @@ namespace armarx::articulated_object
         const float t = static_cast<float>((now - start).toSecondsDouble());
 
         // move joints at certain frequency
-        const float k = (1 + std::sin(t / (M_2_PIf32))) / 2; // in [0,1]
+        const float k = (1 + std::sin(t / (M_2_PI))) / 2; // in [0,1]
 
         auto jointValues = articulatedObject->getJointValues();
 
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt
index bac8435fcbaf49e0c86046407c383bb2d9edcf99..e92a5b368905d9046bb439cf435c9ae4276aed3e 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt
@@ -17,7 +17,6 @@ armarx_add_component(
 
 # Add unit tests
 add_subdirectory(test)
-target_compile_options("${LIB_NAME}" PRIVATE -std=c++2b)
 
 # Generate the application
 armarx_generate_and_add_component_executable(
diff --git a/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt b/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
index da370a54de6d89619c84fc9431ab706ee3d14cf9..7136f05db5538c47faa2ed7d875a69166172e6db 100644
--- a/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
+++ b/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
@@ -40,7 +40,6 @@ set(HEADERS
 
 
 armarx_add_component("${SOURCES}" "${HEADERS}")
-target_compile_options("DynamicObstacleManager" PRIVATE -std=c++2b)
 
 armarx_generate_and_add_component_executable()
 
diff --git a/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp b/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
index 61497d62d399adf6f1c89a0a0de1c544a902ec51..5d077bca27a123793f5bd34023d9a6878dab9ae6 100644
--- a/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
+++ b/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
@@ -260,7 +260,7 @@ namespace armarx
         std::shared_lock<std::shared_mutex> l{m_managed_obstacles_mutex};
 
         const Eigen::Vector2f diff = goal - agentPosition;
-        const Eigen::Vector2f orthogonal_normalized = Eigen::Vector2f(Eigen::Rotation2Df(M_PI_2f32) * diff).normalized();
+        const Eigen::Vector2f orthogonal_normalized = Eigen::Vector2f(Eigen::Rotation2Df(M_PI_2) * diff).normalized();
 
         const float sample_step = 5; // in [mm], sample step size towards goal.
         const float distance_to_goal = diff.norm() + safetyRadius;
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt b/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt
index 025c71bf7f5943027e1246f1f39d8c6334fccd1b..678a03c3aaaa372f5f0fd9bdd28a14e29d9c9b2d 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt
@@ -15,7 +15,6 @@ armarx_add_component(
         VirtualRobotWriterExample.h
 )
 
-target_compile_options("${LIB_NAME}" PRIVATE -std=c++2b)
 
 # Generate the application
 armarx_generate_and_add_component_executable(
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/VirtualRobotWriterExample.cpp b/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/VirtualRobotWriterExample.cpp
index d2a7eff51a3aaf9155ddb8915f61aca9a26c7535..675d2dae9e79c28d5a2fe2d8ce9630963d878dc0 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/VirtualRobotWriterExample.cpp
+++ b/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/VirtualRobotWriterExample.cpp
@@ -133,7 +133,7 @@ namespace armarx::virtual_robot_writer_example
         const float t = float((now - start).toSecondsDouble());
 
         // move joints at certain frequency
-        const float m = (1 + std::sin(t / (M_2_PIf32 * 10))) / 2; // in [0,1]
+        const float m = (1 + std::sin(t / (M_2_PI * 10))) / 2; // in [0,1]
 
         auto jointValues = robot->getJointValues();
         for (auto& [k, v] : jointValues)