diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp
index fd692bfe221cace409b6999790ac094c1f016c64..3cbe59bdfd36963431399159f48886f6ed24942a 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp
@@ -7,6 +7,8 @@
 #include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
 #include <RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h>
 
+#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+
 #include <VirtualRobot/math/Helpers.h>
 
 #include <iomanip>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
index 5e80b3642507feb335287f2437b238f186cd5e13..0ae54afc683c28b67a68856f86cdc8a2a3eb9e91 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
@@ -8,6 +8,8 @@
 #include <RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h>
 #include <RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h>
 
+#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+
 #include "NJointCartesianWaypointController.h"
 
 #include <iomanip>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
index 81afaef0dfdd8dd3de5fb84edb6f718e5cefd0d1..b18689724a120d17a3eff61158d9e57cfd2ee7a9 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
@@ -40,6 +40,7 @@
 namespace IceProxy::armarx
 {
     class DebugDrawerInterface;
+    class DebugObserverInterface;
     class RobotUnitInterface;
 }
 
@@ -70,6 +71,7 @@ namespace armarx
     using ConstSensorDevicePtr = std::shared_ptr<const class SensorDevice>;
 
     typedef ::IceInternal::ProxyHandle< ::IceProxy::armarx::DebugDrawerInterface> DebugDrawerInterfacePrx;
+    typedef ::IceInternal::ProxyHandle< ::IceProxy::armarx::DebugObserverInterface> DebugObserverInterfacePrx;
     typedef ::IceInternal::ProxyHandle< ::IceProxy::armarx::RobotUnitInterface> RobotUnitInterfacePrx;
 
     using ThreadPoolPtr = std::shared_ptr<class ThreadPool>;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
index b722dbf67a909db336252ce8ef735e6629977526..a343e404f97f759d232669b2a1ed72c5b49bd861 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
@@ -37,8 +37,9 @@
 #include <RobotAPI/libraries/core/PIDController.h>
 
 #include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h>
-
 #include <RobotAPI/components/units/RobotUnit/BasicControllers.h>
+#include <RobotAPI/interface/units/PlatformUnitInterface.h>
+
 namespace armarx
 {
 
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
index 7293c150c7844638b91cc719701a6588ac2f04e2..40d37c7ae18892dfe18697ada68dcde1297e79ab 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
@@ -25,6 +25,8 @@
 
 #include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
 
+#include <Eigen/Geometry>
+
 namespace armarx
 {
     NJointControllerRegistration<NJointHolonomicPlatformRelativePositionController>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp
index 297841f70b8f67c56b7bb86cd54486301d30b23c..3b270bd0516b1e00dedfe3c6024c16ecbd6948bc 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp
@@ -4,6 +4,7 @@
 #include <RobotAPI/components/units/RobotUnit/util/RtLogging.h>
 #include <RobotAPI/libraries/core/math/MathUtils.h>
 
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
 #include <ArmarXCore/core/time/TimeUtil.h>
 
 #include <VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.h>
@@ -44,6 +45,11 @@ namespace armarx
         }
     }
 
+    NJointTrajectoryController::~NJointTrajectoryController()
+    {
+
+    }
+
     std::string NJointTrajectoryController::getClassName(const Ice::Current&) const
     {
         return "NJointTrajectoryController";
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
index 060c918b8238d94c89315f0176ee84d6ceef8c22..072f02567b233234a6669cc1a0b4d366676d0759 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
@@ -30,6 +30,8 @@ namespace armarx
     public:
         NJointTrajectoryController(RobotUnit* prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
 
+        ~NJointTrajectoryController();
+
         // NJointControllerInterface interface
         std::string getClassName(const Ice::Current&) const override;
         void onInitNJointController() override;