diff --git a/source/RobotAPI/components/ObjectMemoryEditor/Editor.h b/source/RobotAPI/components/ObjectMemoryEditor/Editor.h
index f1a6ebc2a168de7938e552b44f1d2144a915dd35..e94e1a7cc2aa544650681583ca6a1aae11f9bef6 100644
--- a/source/RobotAPI/components/ObjectMemoryEditor/Editor.h
+++ b/source/RobotAPI/components/ObjectMemoryEditor/Editor.h
@@ -86,7 +86,7 @@ namespace armarx
         struct Placeholder
         {
             simox::OrientedBoxf box;
-            Eigen::Matrix4f transform;
+            Eigen::Matrix4f transform{Eigen::Matrix4f::Identity()};
         };
 
         void addPlaceholder(simox::OrientedBoxf box);
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
index c9afa372dc20c08fc6e80ce2666214618d366286..c944eda90774140a09c4b2376bcfa734b000817f 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
@@ -86,7 +86,7 @@ namespace armarx::armem
         }
 
         // is this corect??
-        prop.platform.acceleration = Eigen::Vector3f();
+        prop.platform.acceleration = Eigen::Vector3f::Zero();
         prop.platform.relativePosition = Eigen::Vector3f(update.platformPose.x,  // this should be globasl AFAIK
                                                          update.platformPose.y,
                                                          update.platformPose.rotationAroundZ);
diff --git a/source/RobotAPI/components/units/ObstacleAvoidingPlatformUnit/ObstacleAvoidingPlatformUnit.cpp b/source/RobotAPI/components/units/ObstacleAvoidingPlatformUnit/ObstacleAvoidingPlatformUnit.cpp
index 14f1348ce043e1fb9158d9d2eca4268b15c17d1c..42fa56ee1e3a3e2be0bfef7c32b2f035648528bc 100644
--- a/source/RobotAPI/components/units/ObstacleAvoidingPlatformUnit/ObstacleAvoidingPlatformUnit.cpp
+++ b/source/RobotAPI/components/units/ObstacleAvoidingPlatformUnit/ObstacleAvoidingPlatformUnit.cpp
@@ -586,7 +586,7 @@ bool armarx::ObstacleAvoidingPlatformUnit::is_near_target(const Eigen::Vector2f&
         const float sim = simox::math::cosine_similarity(target_direction, control_direction);
 
         // if almost pointing into same direction
-        if (sim > cos(M_PI_4f32))
+        if (sim > cos(M_PI_4f))
         {
             return true;
         }
diff --git a/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp b/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
index fc0274a7eb932135018cf356ca39105ea70890c6..e8f44acff3decfba5d69325f0c772718808734eb 100644
--- a/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
+++ b/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
@@ -564,7 +564,7 @@ const noexcept
         const float sim = simox::math::cosine_similarity(target_direction, control_direction);
 
         // if almost pointing into same direction
-        if (sim > cos(M_PI_4f32))
+        if (sim > cos(M_PI_4f))
         {
             return true;
         }
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
index 4e07bdb3e790f36875e2b080b1a1470b461eaa8b..f59f1b7bef8c52d860490b75f1dc8e2f9eb6462e 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
@@ -66,8 +66,8 @@ namespace armarx
 
     struct NJointHolonomicPlatformGlobalPositionControllerTarget
     {
-        Eigen::Vector2f target; // x,y
-        float targetOrientation;
+        Eigen::Vector2f target{0, 0}; // x,y
+        float targetOrientation = 0;
         float translationAccuracy = 0.0f;
         float rotationAccuracy = 0.0f;
         bool newTargetSet = false;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
index ad5b035266524a4079f84811ad8677279019f856..62760e241a7b2a4c7b4457fa6669545d040dff63 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
@@ -60,8 +60,8 @@ namespace armarx
 
     struct NJointHolonomicPlatformRelativePositionControllerTarget
     {
-        Eigen::Vector2f target; // x,y
-        float targetOrientation;
+        Eigen::Vector2f target{0, 0}; // x,y
+        float targetOrientation = 0;
         float translationAccuracy = 0.0f;
         float rotationAccuracy = 0.0f;
         bool newTargetSet = false;
@@ -105,7 +105,7 @@ namespace armarx
         MultiDimPIDController pid;
         PositionThroughVelocityControllerWithAccelerationBoundsAndPeriodicPosition oriCtrl;
         ControlTargetHolonomicPlatformVelocity* target;
-        Eigen::Vector2f startPosition, currentPosition;
+        Eigen::Vector2f startPosition{0, 0}, currentPosition{0, 0};
         float startOrientation;
         float currentOrientation;
         //        float rad2MMFactor;
diff --git a/source/RobotAPI/libraries/SimpleTrajectory/CMakeLists.txt b/source/RobotAPI/libraries/SimpleTrajectory/CMakeLists.txt
index 5e24563b59a6d4d470916e244a451a6878d07436..545faddd872d9ac16863b9471c6c876b5b705045 100644
--- a/source/RobotAPI/libraries/SimpleTrajectory/CMakeLists.txt
+++ b/source/RobotAPI/libraries/SimpleTrajectory/CMakeLists.txt
@@ -27,5 +27,7 @@ set(LIB_HEADERS
 
 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
 
+target_compile_options("${LIB_NAME}" PRIVATE -Wno-error=maybe-uninitialized)
+
 # add unit tests
 add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/armem_robot/types.h b/source/RobotAPI/libraries/armem_robot/types.h
index 9caf84f24574be547036e94fc0f07e50680d0fec..f497c3e2ddcbec47b26585202f3f97d0dedbf957 100644
--- a/source/RobotAPI/libraries/armem_robot/types.h
+++ b/source/RobotAPI/libraries/armem_robot/types.h
@@ -25,8 +25,8 @@ namespace armarx::armem::robot
 
     struct Twist
     {
-        Eigen::Vector3f linear;
-        Eigen::Vector3f angular;
+        Eigen::Vector3f linear{Eigen::Vector3f::Zero()};
+        Eigen::Vector3f angular{Eigen::Vector3f::Zero()};
     };
 
     struct PlatformState
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp
index 6be767cbd80f870ff1ba98fef2546fc29215a997..e21c2c1785fb690f1b26d7e8a9c52e9aafc558ac 100644
--- a/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp
@@ -46,7 +46,7 @@ void DetectForceSpike::run()
     DatafieldRefPtr forceDf = DatafieldRefPtr::dynamicCast(getForceTorqueObserver()->getForceDatafield(in.getFTDatafieldName()));
     const Eigen::Vector3f weights = in.getForceWeights()->toEigen();
     const Eigen::Vector3f axis = in.getAxis()->toEigen().normalized();
-    auto getForceAlongAxis = [&]
+    auto getForceAlongAxis = [&]() -> float
     {
         return forceDf->getDataField()->get<FramedDirection>()->toEigen().cwiseProduct(weights).transpose() * axis;
     };