diff --git a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
index c1786b00a2ff1b0588c8d740a6e60eb637a9fe32..59576d4fb0ec2687336aa41a99e13cca92616ee8 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
@@ -16,7 +16,7 @@ set(LIBS
 
     Eigen3::Eigen
     ${manif_LIBRARIES}
-    #armem_robot_state_aron
+    armem_robot_state
 )
 
 set(LIB_FILES
diff --git a/source/RobotAPI/libraries/armem_laser_scans/CMakeLists.txt b/source/RobotAPI/libraries/armem_laser_scans/CMakeLists.txt
index 92b7689828131699d3eb6fde64e99994358b4ca2..5f60985331d1be30b290aa61398d1df605f86107 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_laser_scans/CMakeLists.txt
@@ -13,6 +13,7 @@ armarx_add_library(
         aroncommon
         aronvectorconverter
         armem_robot_state
+        ArViz
         # System / External
         Eigen3::Eigen
     HEADERS
diff --git a/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt b/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
index 21c808d635627df9a6466c988918ec1b25e9182d..25aa47c769a25c09926eca8d82431137c6f508c7 100644
--- a/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
@@ -20,7 +20,7 @@ armarx_add_library(
         RobotAPI::armem
         RobotUnitDataStreamingReceiver
         #         RobotAPI::ArViz
-        RobotAPI::ComponentPlugins
+        # RobotAPI::ComponentPlugins
 #         RobotAPI::Core
         aroncommon
         # armem_objects
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
index d7bdaa27134824dc590cd6fd3787825cc21cf066..e00b27c3d77fb6130171e06244cffc1181c8fbc1 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
@@ -1,11 +1,7 @@
 #include "aron_conversions.h"
 
-#include <string>
-
 #include <ArmarXCore/core/logging/Logging.h>
 
-#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
-#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
 #include <RobotAPI/libraries/armem_robot_state/aron/Exteroception.aron.generated.h>
 #include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
 #include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/CMakeLists.txt b/source/RobotAPI/libraries/armem_robot_state/server/CMakeLists.txt
index 7525e9bfd1180c6939ad7283912492caffdea5d1..bfd08725caff157962ee91207954cdaba9116467 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_robot_state/server/CMakeLists.txt
@@ -21,6 +21,8 @@ armarx_add_library(
         RobotAPICore 
         RobotAPIInterfaces 
         RobotStatechartHelpers
+        RobotAPI::ComponentPlugins
+        ArViz
         RobotAPI::armem_server
         RobotAPI::armem_robot_state
         aroncommon