diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.cpp b/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.cpp
index 7b485696f6bf7de22ead231d440991f0bf72e569..5ad285693fd9ec1bdd99e39ab84731e2b417b44d 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.cpp
@@ -33,31 +33,29 @@ namespace armarx
 
     JointController* ControlDevice::getJointEmergencyStopController()
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(
-            jointEmergencyStopController,
-            "ControlDevice::getJointEmergencyStopController called for a ControlDevice ('"
-            << getDeviceName() << "') without a JointController "
-            "with the ControlMode ControlModes::EmergencyStop"
-            " (add a JointController with this ControlMode)"
-        );
+        ARMARX_CHECK_EXPRESSION(
+            jointEmergencyStopController) <<
+                                          "ControlDevice::getJointEmergencyStopController called for a ControlDevice ('"
+                                          << getDeviceName() << "') without a JointController "
+                                          "with the ControlMode ControlModes::EmergencyStop"
+                                          " (add a JointController with this ControlMode)";
         return jointEmergencyStopController;
     }
 
     JointController* ControlDevice::getJointStopMovementController()
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(
-            jointStopMovementController,
-            "ControlDevice::getJointStopMovementController called for a ControlDevice ('"
-            << getDeviceName() << "') without a JointController "
-            "with the ControlMode ControlModes::StopMovement"
-            " (add a JointController with this ControlMode)"
-        );
+        ARMARX_CHECK_EXPRESSION(
+            jointStopMovementController) <<
+                                         "ControlDevice::getJointStopMovementController called for a ControlDevice ('"
+                                         << getDeviceName() << "') without a JointController "
+                                         "with the ControlMode ControlModes::StopMovement"
+                                         " (add a JointController with this ControlMode)";
         return jointStopMovementController;
     }
 
     void ControlDevice::rtSetActiveJointController(JointController* jointCtrl)
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(jointCtrl, "Called ControlDevice::rtSetActiveJointController with a nullptr (Don't do this)");
+        ARMARX_CHECK_EXPRESSION(jointCtrl) << "Called ControlDevice::rtSetActiveJointController with a nullptr (Don't do this)";
         if (activeJointController == jointCtrl)
         {
             return;
@@ -90,11 +88,10 @@ namespace armarx
 
     void ControlDevice::addJointController(JointController* jointCtrl)
     {
-        ARMARX_CHECK_IS_NULL_W_HINT(
-            owner,
-            "The ControlDevice '" << getDeviceName()
-            << "' was already added to a RobotUnit! Call addJointController before calling addControlDevice."
-        );
+        ARMARX_CHECK_IS_NULL(
+            owner) <<
+                   "The ControlDevice '" << getDeviceName()
+                   << "' was already added to a RobotUnit! Call addJointController before calling addControlDevice.";
         ARMARX_DEBUG << "adding Controller " << jointCtrl;
         if (!jointCtrl)
         {
diff --git a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp
index bf0b2bf3493ed82975b95ab40976b95c19ebc067..84e9891176c90ba59443714c444276357f4f30f9 100644
--- a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp
@@ -28,7 +28,7 @@ namespace armarx
 {
     ControlDevice& JointController::getParent() const
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(parent, "This JointController is not owned by a ControlDevice");
+        ARMARX_CHECK_EXPRESSION(parent) << "This JointController is not owned by a ControlDevice";
         return *parent;
     }
 
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp
index 08e7a69e7d3db593702ffd6da9c58e2ddecc2582..cb488380e67ad03f0245ea270061870528ceb086 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp
@@ -42,7 +42,7 @@ namespace armarx
         ARMARX_CHECK_EXPRESSION(!config->nodeSetName.empty());
         useSynchronizedRtRobot();
         VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(config->nodeSetName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, config->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << config->nodeSetName;
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
             std::string jointName = rns->getNode(i)->getName();
@@ -65,7 +65,7 @@ namespace armarx
         };
 
         tcp = (config->tcpName.empty() || config->tcpName == DEFAULT_TCP_STRING) ? rns->getTCP() : rtGetRobot()->getRobotNode(config->tcpName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(tcp, config->tcpName);
+        ARMARX_CHECK_EXPRESSION(tcp) << config->tcpName;
 
         nodeSetName = config->nodeSetName;
 
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
index 9d5ded10b70b5a0d36cecce0f95f2aac702d952b..eede99223f70e52f7d1a8ab1ed4e9b101901caa1 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
@@ -42,7 +42,7 @@ namespace armarx
         useSynchronizedRtRobot();
         ARMARX_CHECK_EXPRESSION(!config->nodeSetName.empty());
         VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(config->nodeSetName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, config->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << config->nodeSetName;
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
             std::string jointName = rns->getNode(i)->getName();
@@ -65,7 +65,7 @@ namespace armarx
         };
 
         VirtualRobot::RobotNodePtr tcp = (config->tcpName.empty() || config->tcpName == DEFAULT_TCP_STRING) ? rns->getTCP() : rtGetRobot()->getRobotNode(config->tcpName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(tcp, config->tcpName);
+        ARMARX_CHECK_EXPRESSION(tcp) << config->tcpName;
         tcpController.reset(new CartesianVelocityController(rns, tcp));
 
         nodeSetName = config->nodeSetName;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp
index 6edb465ad4b6a7a8d25e1663060fbc088b60ccbd..24cafe472b7c53b0548c8221f03206b13534f597 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp
@@ -46,7 +46,7 @@ namespace armarx
         ARMARX_CHECK_EXPRESSION(!config->nodeSetName.empty());
         useSynchronizedRtRobot();
         VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(config->nodeSetName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, config->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << config->nodeSetName;
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
             std::string jointName = rns->getNode(i)->getName();
@@ -71,7 +71,7 @@ namespace armarx
         };
 
         VirtualRobot::RobotNodePtr tcp = (config->tcpName.empty() || config->tcpName == DEFAULT_TCP_STRING) ? rns->getTCP() : rtGetRobot()->getRobotNode(config->tcpName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(tcp, config->tcpName);
+        ARMARX_CHECK_EXPRESSION(tcp) << config->tcpName;
 
         nodeSetName = config->nodeSetName;
         jointLimitAvoidanceScale = config->jointLimitAvoidanceScale;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
index e42b68f1d78db459b423fd93e2c6723fa1cdd39e..57e87b49d8e553ff308533f17d2d9d5fc19a7f30 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
@@ -234,29 +234,26 @@ namespace armarx
 
     armarx::ConstSensorDevicePtr armarx::NJointControllerBase::peekSensorDevice(const std::string& deviceName) const
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(
-            NJointControllerRegistryEntry::ConstructorIsRunning(),
-            "The function '" << BOOST_CURRENT_FUNCTION << "' must only be called during the construction of an NJointController."
-        );
+        ARMARX_CHECK_EXPRESSION(
+            NJointControllerRegistryEntry::ConstructorIsRunning()) <<
+                    "The function '" << BOOST_CURRENT_FUNCTION << "' must only be called during the construction of an NJointController.";
         return RobotUnitModule::Devices::Instance().getSensorDevice(deviceName);
     }
 
     ConstControlDevicePtr NJointControllerBase::peekControlDevice(const std::string& deviceName) const
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(
-            NJointControllerRegistryEntry::ConstructorIsRunning(),
-            "The function '" << BOOST_CURRENT_FUNCTION << "' must only be called during the construction of an NJointController."
-        );
+        ARMARX_CHECK_EXPRESSION(
+            NJointControllerRegistryEntry::ConstructorIsRunning()) <<
+                    "The function '" << BOOST_CURRENT_FUNCTION << "' must only be called during the construction of an NJointController.";
         return RobotUnitModule::Devices::Instance().getControlDevice(deviceName);
     }
 
     const VirtualRobot::RobotPtr& NJointControllerBase::useSynchronizedRtRobot(bool updateCollisionModel)
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(
-            NJointControllerRegistryEntry::ConstructorIsRunning(),
-            "The function '" << BOOST_CURRENT_FUNCTION << "' must only be called during the construction of an NJointController."
-        );
-        ARMARX_CHECK_IS_NULL_W_HINT(rtRobot, "useSynchronizedRtRobot was already called");
+        ARMARX_CHECK_EXPRESSION(
+            NJointControllerRegistryEntry::ConstructorIsRunning()) <<
+                    "The function '" << BOOST_CURRENT_FUNCTION << "' must only be called during the construction of an NJointController.";
+        ARMARX_CHECK_IS_NULL(rtRobot) << "useSynchronizedRtRobot was already called";
         rtRobot = RobotUnitModule::RobotData::Instance().cloneRobot(updateCollisionModel);
         rtRobotNodes = rtRobot->getRobotNodes();
         return rtRobot;
@@ -334,10 +331,9 @@ namespace armarx
 
     const SensorValueBase* NJointControllerBase::useSensorValue(const std::string& deviceName) const
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(
-            NJointControllerRegistryEntry::ConstructorIsRunning(),
-            "The function '" << BOOST_CURRENT_FUNCTION << "' must only be called during the construction of an NJointController."
-        );
+        ARMARX_CHECK_EXPRESSION(
+            NJointControllerRegistryEntry::ConstructorIsRunning()) <<
+                    "The function '" << BOOST_CURRENT_FUNCTION << "' must only be called during the construction of an NJointController.";
         auto dev = peekSensorDevice(deviceName);
         if (!dev)
         {
@@ -360,17 +356,15 @@ namespace armarx
 
     ControlTargetBase* NJointControllerBase::useControlTarget(const std::string& deviceName, const std::string& controlMode)
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(
-            NJointControllerRegistryEntry::ConstructorIsRunning(),
-            "The function '" << BOOST_CURRENT_FUNCTION << "' must only be called during the construction of an NJointController."
-        );
-        ARMARX_CHECK_EQUAL_W_HINT(
-            controlDeviceControlModeMap.count(deviceName), 0,
-            BOOST_CURRENT_FUNCTION << ": Must not request two ControlTargets for the same device. (got = "
-            << controlDeviceControlModeMap.at(deviceName) << ", requested " + controlMode + ") "
-            << "(You can only have a ControlDevice in one ControlMode. "
-            << "To check all available ControlModes for this device, get the ControlDevice via peekControlDevice(" + deviceName + ") and querry it)"
-        );
+        ARMARX_CHECK_EXPRESSION(
+            NJointControllerRegistryEntry::ConstructorIsRunning()) <<
+                    "The function '" << BOOST_CURRENT_FUNCTION << "' must only be called during the construction of an NJointController.";
+        ARMARX_CHECK_EQUAL(
+            controlDeviceControlModeMap.count(deviceName), 0) <<
+                    BOOST_CURRENT_FUNCTION << ": Must not request two ControlTargets for the same device. (got = "
+                    << controlDeviceControlModeMap.at(deviceName) << ", requested " + controlMode + ") "
+                    << "(You can only have a ControlDevice in one ControlMode. "
+                    << "To check all available ControlModes for this device, get the ControlDevice via peekControlDevice(" + deviceName + ") and querry it)";
 
         //there is a device and a target was requested:
         JointController* const jointCtrl = RobotUnitModule::DevicesAttorneyForNJointController::GetJointController(RobotUnitModule::Devices::Instance(), deviceName, controlMode);
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index 88363b7242e9666883d22351adfb600735deb6f7..057e069963abd69c62f7da0a54c86c7628b34654 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -407,7 +407,7 @@ namespace armarx
     * It checks whether the provided config has the correct type.
     * \code{.cpp}
                 NJointPositionPassThroughControllerConfigPtr cfg = NJointPositionPassThroughControllerConfigPtr::dynamicCast(config);
-                ARMARX_CHECK_EXPRESSION_W_HINT(cfg, "The provided config has the wrong type! The type is " << config->ice_id());
+                ARMARX_CHECK_EXPRESSION(cfg) << "The provided config has the wrong type! The type is " << config->ice_id();
     * \endcode
     *
     * Then it retrieves the \ref SensorValue1DoFActuatorPosition "SensorValue" and
@@ -706,7 +706,7 @@ namespace armarx
             ARMARX_CHECK_EXPRESSION(getState() < eManagedIceObjectExiting);
             ARMARX_VERBOSE << "Adding NJointControllerBase task named '" << taskName << "' - current available thread count: " << getThreadPool()->getAvailableTaskCount();
             auto handlePtr = std::make_shared<ThreadPool::Handle>(getThreadPool()->runTask(task));
-            ARMARX_CHECK_EXPRESSION_W_HINT(handlePtr->isValid(), "Could not add task (" << taskName << " - " << GetTypeString(task) << " ) - available threads: " << getThreadPool()->getAvailableTaskCount());
+            ARMARX_CHECK_EXPRESSION(handlePtr->isValid()) << "Could not add task (" << taskName << " - " << GetTypeString(task) << " ) - available threads: " << getThreadPool()->getAvailableTaskCount();
             threadHandles[taskName] = handlePtr;
         }
         std::map<std::string, std::shared_ptr<ThreadPool::Handle>> threadHandles;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
index 0b89eaf5f18d12223a623d3b1eba13d672ddfd3b..5a38fe40143a8147e9561b14a184648e095696b9 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
@@ -40,12 +40,12 @@ namespace armarx
     private:
         friend class RobotUnitModule::ControllerManagement;
         virtual NJointControllerBasePtr create(
-                RobotUnitModule::ControllerManagement* cmngr,
-                const NJointControllerConfigPtr&,
-                const VirtualRobot::RobotPtr&,
-                bool deletable,
-                bool internal,
-                const std::string& instanceName) const = 0;
+            RobotUnitModule::ControllerManagement* cmngr,
+            const NJointControllerConfigPtr&,
+            const VirtualRobot::RobotPtr&,
+            bool deletable,
+            bool internal,
+            const std::string& instanceName) const = 0;
         virtual WidgetDescription::WidgetPtr GenerateConfigDescription(const VirtualRobot::RobotPtr&, const std::map<std::string, ConstControlDevicePtr>&, const std::map<std::string, ConstSensorDevicePtr>&) const = 0;
         virtual NJointControllerConfigPtr GenerateConfigFromVariants(const StringVariantBaseMap&) const = 0;
         virtual bool hasRemoteConfiguration() const = 0;
@@ -104,14 +104,14 @@ namespace armarx
     {
         static_assert(std::is_base_of<ControlTargetBase, T>::value, "The given type does not derive ControlTargetBase");
         ControlTargetBase* const ptr = useControlTarget(deviceName, controlMode);
-        return ptr ? ptr->asA<T>(): nullptr;
+        return ptr ? ptr->asA<T>() : nullptr;
     }
     template<class T>
     inline const T* NJointControllerBase::useSensorValue(const std::string& deviceName) const
     {
         static_assert(std::is_base_of<SensorValueBase, T>::value, "The given type does not derive SensorValueBase");
         const SensorValueBase* const ptr = useSensorValue(deviceName);
-        return ptr ? ptr->asA<T>(): nullptr;
+        return ptr ? ptr->asA<T>() : nullptr;
     }
 
     inline void SynchronousNJointController::rtSwapBufferAndRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration)
@@ -277,7 +277,7 @@ namespace armarx
     {
         if (first == last)
         {
-            return std::vector<char>{};
+            return std::vector<char> {};
         }
         std::size_t n = (*first)->getControlDeviceUsedBitmap().size();
         std::vector<char> inuse(n, false);
@@ -312,20 +312,20 @@ namespace armarx::detail
         static constexpr bool hasRemoteConfiguration_ = hasGenerateConfigDescription<NJointControllerT>::value;
 
         NJointControllerBasePtr create(RobotUnitModule::ControllerManagement* cmngr,
-            const NJointControllerConfigPtr& config,
-            const VirtualRobot::RobotPtr& rob,
-            bool deletable,
-            bool internal,
-            const std::string& instanceName) const final override
+                                       const NJointControllerConfigPtr& config,
+                                       const VirtualRobot::RobotPtr& rob,
+                                       bool deletable,
+                                       bool internal,
+                                       const std::string& instanceName) const final override
         {
-            ARMARX_CHECK_EXPRESSION_W_HINT(cmngr, "ControllerManagement module is NULL!");
+            ARMARX_CHECK_EXPRESSION(cmngr) << "ControllerManagement module is NULL!";
 
-           using ConfigPtrT = typename NJointControllerT::ConfigPtrT;
-           ConfigPtrT cfg = ConfigPtrT::dynamicCast(config);
-           ARMARX_CHECK_EXPRESSION_W_HINT(cfg, "The configuration is of the wrong type! it has to be an instance of: "
-                                               << GetTypeString<ConfigPtrT>());
+            using ConfigPtrT = typename NJointControllerT::ConfigPtrT;
+            ConfigPtrT cfg = ConfigPtrT::dynamicCast(config);
+            ARMARX_CHECK_EXPRESSION(cfg) << "The configuration is of the wrong type! it has to be an instance of: "
+                                         << GetTypeString<ConfigPtrT>();
 
-            ARMARX_CHECK_EXPRESSION_W_HINT(!ConstructorIsRunning(), "Two NJointControllers are created at the same time");
+            ARMARX_CHECK_EXPRESSION(!ConstructorIsRunning()) << "Two NJointControllers are created at the same time";
             NJointControllerBasePtr ptr;
             {
                 ConstructorIsRunning_ = true;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
index 1a8943ff48d03c398ffe3d6ac7e37e191b766e51..3cc0e13c37dfaae118d6cb4eba12d3e85a82a7e8 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
@@ -39,7 +39,7 @@ namespace armarx
         const SensorValueBase* sv = useSensorValue(cfg->platformName);
         this->sv = sv->asA<SensorValueHolonomicPlatform>();
         target = useControlTarget(cfg->platformName, ControlModes::HolonomicPlatformVelocity)->asA<ControlTargetHolonomicPlatformVelocity>();
-        ARMARX_CHECK_EXPRESSION_W_HINT(target, "The actuator '" << cfg->platformName << "' has no control mode " << ControlModes::HolonomicPlatformVelocity);
+        ARMARX_CHECK_EXPRESSION(target) << "The actuator '" << cfg->platformName << "' has no control mode " << ControlModes::HolonomicPlatformVelocity;
 
         pid.threadSafe = false;
 
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
index 5fa5360258b34c23ddb0b79948fd8aa93dc77e3e..8ec32aa03d020fc065a2a174756a83061c474c7e 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
@@ -38,7 +38,7 @@ namespace armarx
         const SensorValueBase* sv = useSensorValue(cfg->platformName);
         this->sv = sv->asA<SensorValueHolonomicPlatform>();
         target = useControlTarget(cfg->platformName, ControlModes::HolonomicPlatformVelocity)->asA<ControlTargetHolonomicPlatformVelocity>();
-        ARMARX_CHECK_EXPRESSION_W_HINT(target, "The actuator '" << cfg->platformName << "' has no control mode " << ControlModes::HolonomicPlatformVelocity);
+        ARMARX_CHECK_EXPRESSION(target) << "The actuator '" << cfg->platformName << "' has no control mode " << ControlModes::HolonomicPlatformVelocity;
 
         pid.threadSafe = false;
 
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.cpp
index 3bd188efeace82c1848be5b646fffc5653d593f4..35fd7551d0f4dfd9b33de0b2cac71ee427ef5f35 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.cpp
@@ -33,7 +33,7 @@ namespace armarx
         maxCommandDelay(IceUtil::Time::milliSeconds(500))
     {
         target = useControlTarget(cfg->platformName, ControlModes::HolonomicPlatformVelocity)->asA<ControlTargetHolonomicPlatformVelocity>();
-        ARMARX_CHECK_EXPRESSION_W_HINT(target, "The actuator " << cfg->platformName << " has no control mode " << ControlModes::HolonomicPlatformVelocity);
+        ARMARX_CHECK_EXPRESSION(target) << "The actuator " << cfg->platformName << " has no control mode " << ControlModes::HolonomicPlatformVelocity;
 
         initialSettings.velocityX        = cfg->initialVelocityX;
         initialSettings.velocityY        = cfg->initialVelocityY;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp
index 6226de56e9ab0eea48c7697f535ee5bdfea0ecab..23ae6d2299c3874e9f7501ef7e81c124bc4882d6 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp
@@ -160,7 +160,7 @@ namespace armarx
         ARMARX_CHECK_EXPRESSION(!config->nodeSetName.empty());
         useSynchronizedRtRobot();
         auto nodeset = rtGetRobot()->getRobotNodeSet(config->nodeSetName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(nodeset, config->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(nodeset) << config->nodeSetName;
         for (size_t i = 0; i < nodeset->getSize(); ++i)
         {
             auto jointName = nodeset->getNode(i)->getName();
@@ -171,7 +171,7 @@ namespace armarx
         };
         ik.reset(new VirtualRobot::DifferentialIK(nodeset, rtGetRobot()->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
         tcp = (config->tcpName.empty() || config->tcpName == DEFAULT_TCP_STRING) ? nodeset->getTCP() : rtGetRobot()->getRobotNode(config->tcpName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(tcp, config->tcpName);
+        ARMARX_CHECK_EXPRESSION(tcp) << config->tcpName;
 
         nodeSetName = config->nodeSetName;
     }
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
index bc0c3d694843f9c207a38ce2b30c5f5d8ff75a52..a81af0d3075c73ad053876735a1c0690efa7af88 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
@@ -42,7 +42,7 @@ NJointTaskSpaceImpedanceController::NJointTaskSpaceImpedanceController(const Rob
     VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(cfg->nodeSetName);
 
     jointNames.clear();
-    ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+    ARMARX_CHECK_EXPRESSION(rns) << cfg->nodeSetName;
     for (size_t i = 0; i < rns->getSize(); ++i)
     {
         std::string jointName = rns->getNode(i)->getName();
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp
index b51bb59d3907675755f3a65c7278370ea6bb4027..fa0c743d77a225270c44e767c7e1b0843c7601e3 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp
@@ -10,7 +10,7 @@ namespace armarx
     NJointTrajectoryController::NJointTrajectoryController(RobotUnitPtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr& robot)
     {
         cfg = NJointTrajectoryControllerConfigPtr::dynamicCast(config);
-        ARMARX_CHECK_EXPRESSION_W_HINT(cfg, "Needed type: NJointTrajectoryControllerConfigPtr");
+        ARMARX_CHECK_EXPRESSION(cfg) << "Needed type: NJointTrajectoryControllerConfigPtr";
 
         for (std::string jointName : cfg->jointNames)
         {
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp
index 0807e71bb1b87c655e2e11925308c5a761155201..8432b4b530cc289e05f0b245121f853df122295c 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp
@@ -102,10 +102,9 @@ namespace armarx::RobotUnitModule
     void ModuleBase::checkDerivedClasses() const
     {
 #define check_deriving(Type)                                        \
-    ARMARX_CHECK_NOT_NULL_W_HINT(                                   \
-            dynamic_cast<const Type*>(this),                            \
-            "This class does not derive from " << GetTypeString<Type>() \
-                                );
+    ARMARX_CHECK_NOT_NULL(                                   \
+            dynamic_cast<const Type*>(this)) <<                           \
+                    "This class does not derive from " << GetTypeString<Type>();
         for_each_module(check_deriving)
 #undef check_deriving
     }
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
index 4e5a932446f4a424fa04f72f5abb6471e0df5767..c4c7611f379c1ee00c106f2897212c580c25f853 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
@@ -668,13 +668,12 @@ namespace armarx::RobotUnitModule
             const ControlDevicePtr& controlDevice = rtGetControlDevices().at(ctrlDevIdx);
             JointController* es = controlDevice->rtGetJointEmergencyStopController();
 
-            ARMARX_CHECK_EQUAL_W_HINT(
+            ARMARX_CHECK_EQUAL(
                 rtGetActivatedJointToNJointControllerAssignement().at(ctrlDevIdx),
-                nJointCtrlIndex,
-                VAROUT(ctrlDevIdx) << "\n"
-                << VAROUT(controlDevice->getDeviceName()) << "\n"
-                << dumpRtState()
-            );
+                nJointCtrlIndex) <<
+                                 VAROUT(ctrlDevIdx) << "\n"
+                                 << VAROUT(controlDevice->getDeviceName()) << "\n"
+                                 << dumpRtState();
 
             controlDevice->rtSetActiveJointController(es);
             rtGetActivatedJointControllers().at(ctrlDevIdx) = es;
@@ -729,15 +728,14 @@ namespace armarx::RobotUnitModule
     void ControlThread::rtDeactivateAssignedNJointControllerBecauseOfError(std::size_t ctrlDevIndex)
     {
         std::size_t nJointCtrlIndex = rtGetActivatedJointToNJointControllerAssignement().at(ctrlDevIndex);
-        ARMARX_CHECK_LESS_W_HINT(
-            nJointCtrlIndex, rtGetControlDevices().size(),
-            "no NJoint controller controls this device (name = "
-            << rtGetControlDevices().at(ctrlDevIndex)->rtGetDeviceName()
-            << ", ControlMode = " << rtGetActivatedJointControllers().at(ctrlDevIndex)->getControlMode() << ")!" << "\n"
-            << "This means an invariant is violated! Dumping data for debugging:\n"
-            << VAROUT(ctrlDevIndex) << "\n"
-            << dumpRtState()
-        );
+        ARMARX_CHECK_LESS(
+            nJointCtrlIndex, rtGetControlDevices().size()) <<
+                    "no NJoint controller controls this device (name = "
+                    << rtGetControlDevices().at(ctrlDevIndex)->rtGetDeviceName()
+                    << ", ControlMode = " << rtGetActivatedJointControllers().at(ctrlDevIndex)->getControlMode() << ")!" << "\n"
+                    << "This means an invariant is violated! Dumping data for debugging:\n"
+                    << VAROUT(ctrlDevIndex) << "\n"
+                    << dumpRtState();
 
         rtDeactivateNJointControllerBecauseOfError(nJointCtrlIndex);
     }
@@ -834,7 +832,7 @@ namespace armarx::RobotUnitModule
             std::shared_ptr<DynamicsHelper> dynamicsHelpers(new DynamicsHelper(robotUnit));
             auto bodySetName = getProperty<std::string>("InverseDynamicsRobotBodySet").getValue();
             auto rtRobotBodySet = rtGetRobot()->getRobotNodeSet(bodySetName);
-            ARMARX_CHECK_EXPRESSION_W_HINT(rtRobotBodySet, "could not find robot node set with name: " << bodySetName << " - Check property InverseDynamicsRobotBodySet");
+            ARMARX_CHECK_EXPRESSION(rtRobotBodySet) << "could not find robot node set with name: " << bodySetName << " - Check property InverseDynamicsRobotBodySet";
             //                rtfilters::RTFilterBasePtr accFilter(new rtfilters::ButterworthFilter(100, 1000, Lowpass, 1));
             //                rtfilters::RTFilterBasePtr velFilter(new rtfilters::ButterworthFilter(100, 1000, Lowpass, 1));
             rtfilters::RTFilterBasePtr accFilter(new rtfilters::AverageFilter(30));
@@ -844,7 +842,7 @@ namespace armarx::RobotUnitModule
             for (auto& set : setList)
             {
                 auto rns = rtGetRobot()->getRobotNodeSet(set);
-                ARMARX_CHECK_EXPRESSION_W_HINT(rns, "could not find robot node set with name: " << set << " - Check property InverseDynamicsRobotJointSets");
+                ARMARX_CHECK_EXPRESSION(rns) << "could not find robot node set with name: " << set << " - Check property InverseDynamicsRobotJointSets";
                 dynamicsHelpers->addRobotPart(rns, rtRobotBodySet, velFilter, accFilter);
                 ARMARX_VERBOSE << "Added nodeset " << set << " for inverse dynamics";
             }
@@ -911,7 +909,7 @@ namespace armarx::RobotUnitModule
             case EmergencyStopStateRequest::RequestNone:
                 break;
             default:
-                ARMARX_CHECK_EXPRESSION_W_HINT(!static_cast<int>(state), "Unkown value for EmergencyStopStateRequest");
+                ARMARX_CHECK_EXPRESSION(!static_cast<int>(state)) << "Unkown value for EmergencyStopStateRequest";
         }
     }
 
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index 8f5960857d371d51d9053113a3b032732f3bb905..3ccb1f9be38f93ae8d7a3ee96ac6cfb58957f631 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -252,10 +252,9 @@ namespace armarx::RobotUnitModule
                 deletable, internal,
                 instanceName
                                              );
-        ARMARX_CHECK_NOT_EQUAL_W_HINT(
-            nJointCtrl->getControlDeviceUsedIndices().size(), 0,
-            "The NJointControllerBase '" << nJointCtrl->getName() << "' uses no ControlDevice! (It has to use at least one)"
-        );
+        ARMARX_CHECK_NOT_EQUAL(
+            nJointCtrl->getControlDeviceUsedIndices().size(), 0) <<
+                    "The NJointControllerBase '" << nJointCtrl->getName() << "' uses no ControlDevice! (It has to use at least one)";
 
         getArmarXManager()->addObject(nJointCtrl, instanceName, false, false);
         nJointControllers[instanceName] = std::move(nJointCtrl);
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.cpp
index 219ba7815eba0cb2b03c4a5c93ccbe0e0973d175..c0874a7942069cad1330c359750f54baa1c26350 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.cpp
@@ -606,19 +606,17 @@ namespace armarx::RobotUnitModule
                     //check other devs
                     for (const auto& devname : group)
                     {
-                        ARMARX_CHECK_EXPRESSION_W_HINT(
-                            controlDevices.has(devname),
-                            "The ControlDeviceHardwareControlModeGroups property contains device names not existent in the robot: "
-                            << devname << "\navailable:\n" << controlDevices.keys()
-                        );
+                        ARMARX_CHECK_EXPRESSION(
+                            controlDevices.has(devname)) <<
+                                                         "The ControlDeviceHardwareControlModeGroups property contains device names not existent in the robot: "
+                                                         << devname << "\navailable:\n" << controlDevices.keys();
                         //Assert all devices in a group have the same control modes with the same hw controle modes
                         const auto controlModeToHWControlModeForDevice = getControlModeToHWControlMode(devname);
-                        ARMARX_CHECK_EXPRESSION_W_HINT(
-                            controlModeToHWControlModeForDevice == controlModeToHWControlMode,
-                            "Error for control modes of device '" << devname << "'\n"
-                            << "it has the modes: " << controlModeToHWControlModeForDevice
-                            << "\n but should have the modes: " << controlModeToHWControlMode
-                        );
+                        ARMARX_CHECK_EXPRESSION(
+                            controlModeToHWControlModeForDevice == controlModeToHWControlMode) <<
+                                    "Error for control modes of device '" << devname << "'\n"
+                                    << "it has the modes: " << controlModeToHWControlModeForDevice
+                                    << "\n but should have the modes: " << controlModeToHWControlMode;
                         //insert the device index into the device indices
                         const auto devIdx = controlDevices.index(devname);
                         ctrlModeGroups.deviceIndices.at(groupIdx).emplace_back(devIdx);
@@ -689,14 +687,12 @@ namespace armarx::RobotUnitModule
                 std::set<std::string> group;
                 for (auto& device : strElems)
                 {
-                    ARMARX_CHECK_EXPRESSION_W_HINT(
-                        !device.empty(),
-                        "The ControlDeviceHardwareControlModeGroups property contains empty device names"
-                    );
-                    ARMARX_CHECK_EXPRESSION_W_HINT(
-                        !ctrlModeGroups.groupsMerged.count(device),
-                        "The ControlDeviceHardwareControlModeGroups property contains duplicate device names: " << device
-                    );
+                    ARMARX_CHECK_EXPRESSION(
+                        !device.empty()) <<
+                                         "The ControlDeviceHardwareControlModeGroups property contains empty device names";
+                    ARMARX_CHECK_EXPRESSION(
+                        !ctrlModeGroups.groupsMerged.count(device)) <<
+                                "The ControlDeviceHardwareControlModeGroups property contains duplicate device names: " << device;
                     ctrlModeGroups.groupsMerged.emplace(device);
                     group.emplace(std::move(device));
                 }
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
index 70da5df0a915823ed517022cd287ce16b5eb057b..1f58f79ae6bb6be402f4b22b45bc5e9ebb06ae7a 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
@@ -431,7 +431,7 @@ namespace armarx::RobotUnitModule
     {
         throwIfInControlThread(BOOST_CURRENT_FUNCTION);
         rtLoggingTimestep = getProperty<std::size_t>("RTLogging_PeriodMs");
-        ARMARX_CHECK_LESS_W_HINT(0, rtLoggingTimestep, "The property RTLoggingPeriodMs must not be 0");
+        ARMARX_CHECK_LESS(0, rtLoggingTimestep) << "The property RTLoggingPeriodMs must not be 0";
 
         messageBufferSize = getProperty<std::size_t>("RTLogging_MessageBufferSize");
         messageBufferMaxSize = getProperty<std::size_t>("RTLogging_MaxMessageBufferSize");
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
index 541147c28728402614fb24648376efd893615746..955a336053a4b7d605ea19cb70ba993b00b517a7 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
@@ -39,7 +39,7 @@ namespace armarx::RobotUnitModule
     const std::string& RobotData::getRobotPlatformName() const
     {
         throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-        ARMARX_CHECK_EXPRESSION_W_HINT(robot, __FUNCTION__ << " should only be called after _initVirtualRobot was called");
+        ARMARX_CHECK_EXPRESSION(robot) << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
         return robotPlatformName;
     }
 
@@ -51,21 +51,21 @@ namespace armarx::RobotUnitModule
     const std::string& RobotData::getRobotNodetSeName() const
     {
         throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-        ARMARX_CHECK_EXPRESSION_W_HINT(robot, __FUNCTION__ << " should only be called after _initVirtualRobot was called");
+        ARMARX_CHECK_EXPRESSION(robot) << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
         return robotNodeSetName;
     }
 
     const std::string& RobotData::getRobotProjectName() const
     {
         throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-        ARMARX_CHECK_EXPRESSION_W_HINT(robot, __FUNCTION__ << " should only be called after _initVirtualRobot was called");
+        ARMARX_CHECK_EXPRESSION(robot) << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
         return robotProjectName;
     }
 
     const std::string& RobotData::getRobotFileName() const
     {
         throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-        ARMARX_CHECK_EXPRESSION_W_HINT(robot, __FUNCTION__ << " should only be called after _initVirtualRobot was called");
+        ARMARX_CHECK_EXPRESSION(robot) << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
         return robotFileName;
     }
 
@@ -73,7 +73,7 @@ namespace armarx::RobotUnitModule
     {
         throwIfInControlThread(BOOST_CURRENT_FUNCTION);
         std::lock_guard<std::mutex> guard {robotMutex};
-        ARMARX_CHECK_EXPRESSION_W_HINT(robot, __FUNCTION__ << " should only be called after _initVirtualRobot was called");
+        ARMARX_CHECK_EXPRESSION(robot) << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
         return robot->getName();
     }
 
@@ -81,7 +81,7 @@ namespace armarx::RobotUnitModule
     {
         throwIfInControlThread(BOOST_CURRENT_FUNCTION);
         std::lock_guard<std::mutex> guard {robotMutex};
-        ARMARX_CHECK_EXPRESSION_W_HINT(robot, __FUNCTION__ << " should only be called after _initVirtualRobot was called");
+        ARMARX_CHECK_EXPRESSION(robot) << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
         ARMARX_CHECK_EXPRESSION(robotPool);
         const VirtualRobot::RobotPtr clone = robotPool->getRobot();
         clone->setUpdateVisualization(false);
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
index 0ff29e89c33667dd2f82fc2eaa1072bf14e1c35c..76e2811dc28ae4aa3246d0fafc7fc032f8483669 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
@@ -248,7 +248,7 @@ namespace armarx::RobotUnitModule
             ARMARX_IMPORTANT << "No joint devices found - skipping adding of KinematicUnit";
             return nullptr;
         }
-        ARMARX_CHECK_EXPRESSION_W_HINT(!devs.empty(), "no 1DoF ControlDevice found with matching SensorDevice");
+        ARMARX_CHECK_EXPRESSION(!devs.empty()) << "no 1DoF ControlDevice found with matching SensorDevice";
         //add it
         const std::string configName = getProperty<std::string>("KinematicUnitName");
         const std::string confPre = getConfigDomain() + "." + configName + ".";
@@ -386,17 +386,15 @@ namespace armarx::RobotUnitModule
                 ftSensorData.sensorIndex = _module<Devices>().getSensorDevices().index(ftSensorDevice->getDeviceName());
                 ftSensorData.deviceName = ftSensorDevice->getDeviceName();
                 ftSensorData.frame = ftSensorDevice->getReportingFrame();
-                ARMARX_CHECK_EXPRESSION_W_HINT(
-                    !ftSensorData.frame.empty(),
-                    "The sensor device '" << ftSensorData.deviceName << "' (index: " << ftSensorData.sensorIndex
-                    << ") reports force torque values but returns an empty string as reporting frame"
-                );
-                ARMARX_CHECK_EXPRESSION_W_HINT(
-                    unitCreateRobot->hasRobotNode(ftSensorData.frame),
-                    "The sensor device '" << ftSensorData.deviceName << "' (index: " << ftSensorData.sensorIndex
-                    << ") reports force torque values but returns a reporting frame '" << ftSensorData.frame
-                    << "' which is not present in the robot '" << _module<RobotData>().getRobotName() << "'"
-                );
+                ARMARX_CHECK_EXPRESSION(
+                    !ftSensorData.frame.empty()) <<
+                                                 "The sensor device '" << ftSensorData.deviceName << "' (index: " << ftSensorData.sensorIndex
+                                                 << ") reports force torque values but returns an empty string as reporting frame";
+                ARMARX_CHECK_EXPRESSION(
+                    unitCreateRobot->hasRobotNode(ftSensorData.frame)) <<
+                            "The sensor device '" << ftSensorData.deviceName << "' (index: " << ftSensorData.sensorIndex
+                            << ") reports force torque values but returns a reporting frame '" << ftSensorData.frame
+                            << "' which is not present in the robot '" << _module<RobotData>().getRobotName() << "'";
                 ftdevs.emplace_back(std::move(ftSensorData));
             }
         }
@@ -564,7 +562,7 @@ namespace armarx::RobotUnitModule
         {
             emergencyStopMaster = new RobotUnitEmergencyStopMaster {&_module<ControlThread>(),  getProperty<std::string>("EmergencyStopTopic").getValue()};
             ManagedIceObjectPtr obj = ManagedIceObjectPtr::dynamicCast(emergencyStopMaster);
-            ARMARX_CHECK_EXPRESSION_W_HINT(obj, "RobotUnitEmergencyStopMaster");
+            ARMARX_CHECK_EXPRESSION(obj) << "RobotUnitEmergencyStopMaster";
             getArmarXManager()->addObject(obj, getProperty<std::string>("EmergencyStopMasterName").getValue(), true);
             auto prx = obj->getProxy(-1);
             try
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
index 1c98f6b653589f3a6f6fd611d4695e1933111458..4f320f59ce2d0181473fe7231ed56a5f6ad0a67d 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
@@ -59,7 +59,7 @@ void TCPControllerSubUnit::setCycleTime(Ice::Int, const Ice::Current& c)
 void TCPControllerSubUnit::setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const FramedDirectionBasePtr& translationVelocity, const FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c)
 {
     std::unique_lock lock(dataMutex);
-    ARMARX_CHECK_EXPRESSION_W_HINT(coordinateTransformationRobot->hasRobotNodeSet(nodeSetName), "The robot does not have the node set: " + nodeSetName);
+    ARMARX_CHECK_EXPRESSION(coordinateTransformationRobot->hasRobotNodeSet(nodeSetName)) << "The robot does not have the node set: " + nodeSetName;
     std::string tcp;
     if (tcpName.empty())
     {
@@ -67,7 +67,7 @@ void TCPControllerSubUnit::setTCPVelocity(const std::string& nodeSetName, const
     }
     else
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(coordinateTransformationRobot->hasRobotNode(tcpName), "The robot does not have the node: " + tcpName);
+        ARMARX_CHECK_EXPRESSION(coordinateTransformationRobot->hasRobotNode(tcpName)) << "The robot does not have the node: " + tcpName;
         tcp = tcpName;
     }
 
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp
index 4af60478ff5da6a4a57d055dd919473a64b1d1d5..e22d0319c205a8665bb23222f692b1832b417b41 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp
@@ -54,7 +54,7 @@ bool TrajectoryControllerSubUnit::startTrajectoryPlayer(const Ice::Current& c)
 {
     ARMARX_DEBUG << "Starting TrajectoryPlayer ...";
 
-    ARMARX_CHECK_EXPRESSION_W_HINT(jointTraj, "No trajectory loaded!");
+    ARMARX_CHECK_EXPRESSION(jointTraj) << "No trajectory loaded!";
     assureTrajectoryController();
 
     jointTrajController->setTrajectory(this->jointTraj, c);
diff --git a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
index 98fe0b961192861a9fa7df1029afc178cd4db1ce..e753f9c4b60b13533dc2cfa20e6494a1d106ba1a 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
@@ -238,14 +238,13 @@ namespace armarx
                     << "\n"
                     << "\nthis               = " << this;
             };
-            ARMARX_CHECK_NOT_NULL_W_HINT(place, hint);
-            ARMARX_CHECK_LESS_EQUAL_W_HINT(static_cast<void*>(&buffer.front()), static_cast<void*>(place), hint);
-            ARMARX_CHECK_LESS_EQUAL_W_HINT(static_cast<void*>(place), static_cast<void*>(&buffer.back()), hint);
-            ARMARX_CHECK_LESS_EQUAL_W_HINT(
+            ARMARX_CHECK_NOT_NULL(place) << hint;
+            ARMARX_CHECK_LESS_EQUAL(static_cast<void*>(&buffer.front()), static_cast<void*>(place)) << hint;
+            ARMARX_CHECK_LESS_EQUAL(static_cast<void*>(place), static_cast<void*>(&buffer.back())) << hint;
+            ARMARX_CHECK_LESS_EQUAL(
                 static_cast<void*>(static_cast<std::uint8_t*>(place) + entry->_sizeof() - 1),
-                static_cast<void*>(&buffer.back()),
-                hint
-            );
+                static_cast<void*>(&buffer.back())) <<
+                                                    hint;
             ARMARX_CHECK_LESS_EQUAL(place, &buffer.back());
             ARMARX_CHECK_LESS(entriesWritten, entries.size());
             ARMARX_CHECK_EXPRESSION(!entries.at(entriesWritten));
diff --git a/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp b/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp
index f52c9276e2876c52264a09831c212d5b9db2ffd5..bf5e5e28970861a2ebd6e0fb8c17d052962f5786 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp
@@ -47,7 +47,7 @@ namespace armarx
             if (selectedJoint)
             {
                 auto sensorValue = const_cast<SensorValue1DoFActuator*>(selectedJoint->getSensorValue()->asA<SensorValue1DoFActuator>());
-                ARMARX_CHECK_EXPRESSION_W_HINT(sensorValue, rnsJoints->getNode(i)->getName());
+                ARMARX_CHECK_EXPRESSION(sensorValue) << rnsJoints->getNode(i)->getName();
                 ARMARX_DEBUG << "will calculate inverse dynamics for robot node " << rnsJoints->getNode(i)->getName();
                 data.nodeSensorVec.push_back(std::make_pair(rnsJoints->getNode(i), sensorValue));
             }
@@ -79,7 +79,7 @@ namespace armarx
                 size_t i = 0;
                 for (auto& node : data.nodeSensorVec)
                 {
-                    ARMARX_CHECK_EXPRESSION_W_HINT(node.second, node.first->getName());
+                    ARMARX_CHECK_EXPRESSION(node.second) << node.first->getName();
                     data.q(i) = node.second->position;
                     if (i < data.velocityFilter.size() && data.velocityFilter.at(i) && !std::isnan(node.second->velocity))
                     {
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
index 00800f190fcbbc40b4c774c6387577f89d925c6b..65e8980af45c0a202787d0220e89bf7cf0313ea1 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
@@ -100,11 +100,11 @@ namespace armarx::introspection
         {
             if (!addedBases.count(e.getClassName()))
             {
-                ARMARX_CHECK_EXPRESSION_W_HINT(
-                    !entries.count(e.getMemberName()),
-                    "Adding the base class '" << GetTypeString<BaseClassType>()
-                    << "' adds an entry for the member '" << e.getMemberName()
-                    << "' which already was added by class '" << entries.at(e.getMemberName()).getClassName() << "'");
+                ARMARX_CHECK_EXPRESSION(
+                    !entries.count(e.getMemberName())) <<
+                                                       "Adding the base class '" << GetTypeString<BaseClassType>()
+                                                       << "' adds an entry for the member '" << e.getMemberName()
+                                                       << "' which already was added by class '" << entries.at(e.getMemberName()).getClassName() << "'";
                 basesAddedInCall.emplace(e.getClassName());
                 entries.add(e.getMemberName(), e);
             }
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.cpp b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.cpp
index 60f62a097be4da24c4f1808b5c6c7c0c385c4f30..cf3a4e9b0ba5db52287a006a879c0b841778bf29 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.cpp
@@ -53,7 +53,7 @@ namespace armarx::introspection
         {
             return {{name, {new TimedVariant(FramedPosition{value, frame, agent}, timestamp)}}};
         }
-        ARMARX_CHECK_EXPRESSION_W_HINT(agent.empty(), "No frame but an agent given");
+        ARMARX_CHECK_EXPRESSION(agent.empty()) << "No frame but an agent given";
         return {{name, {new TimedVariant(Vector3{value}, timestamp)}}};
     }
 }
@@ -73,7 +73,7 @@ namespace armarx::introspection
             const std::string& frame,                                                                                                       \
             const std::string& agent)                                                                                                       \
     {                                                                                                                                   \
-        ARMARX_CHECK_EXPRESSION_W_HINT(frame.empty() && agent.empty(), "There is no framed version of TimestampVariant");               \
+        ARMARX_CHECK_EXPRESSION(frame.empty() && agent.empty()) << "There is no framed version of TimestampVariant";               \
         std::map<std::string, VariantBasePtr> result;                                                                                   \
         for(int i = 0; i < Num; ++i)                                                                                                    \
         {                                                                                                                               \
@@ -141,7 +141,7 @@ namespace armarx::introspection
         const std::string& frame,
         const std::string& agent)
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(frame.empty() && agent.empty(), "There is no framed version for JointStatus");
+        ARMARX_CHECK_EXPRESSION(frame.empty() && agent.empty()) << "There is no framed version for JointStatus";
         static const auto fnames = GetFieldNames();
         return
         {
@@ -189,7 +189,7 @@ namespace armarx::introspection
         {
             return {{name, {new TimedVariant(FramedOrientation{value, frame, agent}, timestamp)}}};
         }
-        ARMARX_CHECK_EXPRESSION_W_HINT(agent.empty(), "No frame but an agent given");
+        ARMARX_CHECK_EXPRESSION(agent.empty()) << "No frame but an agent given";
         return {{name, {new TimedVariant(Quaternion{value}, timestamp)}}};
     }
 }
@@ -213,7 +213,7 @@ namespace armarx::introspection
         {
             return {{name, {new TimedVariant(FramedPose{value, frame, agent}, timestamp)}}};
         }
-        ARMARX_CHECK_EXPRESSION_W_HINT(agent.empty(), "No frame but an agent given");
+        ARMARX_CHECK_EXPRESSION(agent.empty()) << "No frame but an agent given";
         return {{name, {new TimedVariant(Pose{value}, timestamp)}}};
     }
 }
@@ -227,7 +227,7 @@ namespace armarx::introspection
         const std::string& frame,
         const std::string& agent)
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(frame.empty() && agent.empty(), "There is no framed version of TimestampVariant");
+        ARMARX_CHECK_EXPRESSION(frame.empty() && agent.empty()) << "There is no framed version of TimestampVariant";
         return {{name, {new TimedVariant(TimestampVariant{value.count()}, timestamp)}}};
     }
 
@@ -238,7 +238,7 @@ namespace armarx::introspection
         const std::string& frame,
         const std::string& agent)
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(frame.empty() && agent.empty(), "There is no framed version of TimestampVariant");
+        ARMARX_CHECK_EXPRESSION(frame.empty() && agent.empty()) << "There is no framed version of TimestampVariant";
         return {{name, {new TimedVariant(TimestampVariant{value.toMicroSeconds()}, timestamp)}}};
     }
 }
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
index c29199ada8042ed04c30a83e48fe9da77444010e..c122c55b0361fbe82f7e7ce6bbffcb2fdbf9bc84 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
@@ -67,7 +67,7 @@ namespace armarx::introspection
             const std::string& frame = "",
             const std::string& agent = "")
         {
-            ARMARX_CHECK_EXPRESSION_W_HINT(frame.empty() && agent.empty(), "There is no framed version for fundamental types");
+            ARMARX_CHECK_EXPRESSION(frame.empty() && agent.empty()) << "There is no framed version for fundamental types";
             return {{name, {new TimedVariant(value, timestamp)}}};
         }
     };
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 37e1df461dc90453d02567bc65feb6deeb744daf..9c434042b75b23ab4393ed3e7c3a65a0658181e5 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -191,7 +191,7 @@ namespace armarx
         }
 
         std::unique_lock lock(dataMutex);
-        ARMARX_CHECK_EXPRESSION_W_HINT(jointExistenceCheckRobot->hasRobotNodeSet(nodeSetName), "The robot does not have the node set: " + nodeSetName);
+        ARMARX_CHECK_EXPRESSION(jointExistenceCheckRobot->hasRobotNodeSet(nodeSetName)) << "The robot does not have the node set: " + nodeSetName;
 
 
         if (translationVelocity)
@@ -215,7 +215,7 @@ namespace armarx
         }
         else
         {
-            ARMARX_CHECK_EXPRESSION_W_HINT(jointExistenceCheckRobot->hasRobotNode(tcpName), "The robot does not have the node: " + tcpName);
+            ARMARX_CHECK_EXPRESSION(jointExistenceCheckRobot->hasRobotNode(tcpName)) << "The robot does not have the node: " + tcpName;
 
             data.tcpName = tcpName;
         }
@@ -687,15 +687,15 @@ namespace armarx
     {
         if (mode <=  IKSolver::Z)
         {
-            ARMARX_CHECK_EXPRESSION_W_HINT(tcpWeight.rows() == 1, "The tcpWeight vector must be of size 1");
+            ARMARX_CHECK_EXPRESSION(tcpWeight.rows() == 1) << "The tcpWeight vector must be of size 1";
         }
         else if (mode <=  IKSolver::Orientation)
         {
-            ARMARX_CHECK_EXPRESSION_W_HINT(tcpWeight.rows() == 3, "The tcpWeight vector must be of size 3");
+            ARMARX_CHECK_EXPRESSION(tcpWeight.rows() == 3) << "The tcpWeight vector must be of size 3";
         }
         else if (mode ==  IKSolver::All)
         {
-            ARMARX_CHECK_EXPRESSION_W_HINT(tcpWeight.rows() == 6, "The tcpWeight vector must be of size 6");
+            ARMARX_CHECK_EXPRESSION(tcpWeight.rows() == 6) << "The tcpWeight vector must be of size 6";
         }
 
         tcpWeights[tcp] = tcpWeight;
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 17ce02826bd5eb2ab427cfc88310292b82d2d6f3..e1d31b40ab9d3b02d838f9f7d6156fed3f38d14b 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -761,7 +761,7 @@ bool KinematicUnitWidgetController::initGUIJointListTable(VirtualRobot::RobotNod
           << "Enabled"
           << "Emergency Stop";
         ui.tableJointList->setHorizontalHeaderLabels(s);
-        ARMARX_CHECK_EXPRESSION_W_HINT(ui.tableJointList->columnCount() == eTabelColumnCount, "Current table size: " << ui.tableJointList->columnCount());
+        ARMARX_CHECK_EXPRESSION(ui.tableJointList->columnCount() == eTabelColumnCount) << "Current table size: " << ui.tableJointList->columnCount();
 
 
         // fill in joint names
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractData.h b/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractData.h
index 50207f96b4df5d3cfc58d302564c6ca188dacd97..5123ac0df92bd4488e3f1c20fc8306af233d9eb4 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractData.h
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractData.h
@@ -60,17 +60,16 @@ namespace armarx
         void init(T* raw, float factor, float offset, float defaultValue = std::nan("1"), bool offsetBeforeFactor = true, const char* nameForDebugging = "")
         {
             const auto rawAsInt = reinterpret_cast<std::uint64_t>(raw);
-            ARMARX_CHECK_EXPRESSION_W_HINT(
-                (rawAsInt % alignof(T)) == 0,
-                "\nThe alignment is wrong!\nIt has to be "
-                << alignof(T) << ", but the data is aligned with "
-                << rawAsInt % alignof(std::max_align_t)
-                << "!\nThis is an offset of " << (rawAsInt % alignof(T))
-                << " bytes!\nThe datatype is " << GetTypeString<T>()
-                << "\nIts size is " << sizeof(T)
-                << "\nraw = " << raw
-                << " bytes\nThe name is " << nameForDebugging
-            );
+            ARMARX_CHECK_EXPRESSION(
+                (rawAsInt % alignof(T)) == 0) <<
+                                              "\nThe alignment is wrong!\nIt has to be "
+                                              << alignof(T) << ", but the data is aligned with "
+                                              << rawAsInt % alignof(std::max_align_t)
+                                              << "!\nThis is an offset of " << (rawAsInt % alignof(T))
+                                              << " bytes!\nThe datatype is " << GetTypeString<T>()
+                                              << "\nIts size is " << sizeof(T)
+                                              << "\nraw = " << raw
+                                              << " bytes\nThe name is " << nameForDebugging;
             this->offsetBeforeFactor = offsetBeforeFactor;
             this->factor = factor;
             this->offset = offset;
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractSlave.h b/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractSlave.h
index fb8868b0d0044514b29702b9d144af9e75209531..f9064b08c179e984fb7eb6cd9f95e32c5e96ae76 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractSlave.h
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractSlave.h
@@ -113,31 +113,29 @@ namespace armarx
         void setInputPDO(void* ptr) override
         {
             const auto ptrAsInt = reinterpret_cast<std::uint64_t>(ptr);
-            ARMARX_CHECK_EXPRESSION_W_HINT(
-                (ptrAsInt % alignof(InputT)) == 0,
-                "\nThe alignment is wrong!\nIt has to be "
-                << alignof(InputT) << ", but the data is aligned with "
-                << ptrAsInt % alignof(std::max_align_t)
-                << "!\nThis is an offset of " << (ptrAsInt % alignof(InputT))
-                << " bytes!\nThe datatype is " << GetTypeString<InputT>()
-                << "\nIts size is " << sizeof(InputT)
-                << " bytes"
-            );
+            ARMARX_CHECK_EXPRESSION(
+                (ptrAsInt % alignof(InputT)) == 0) <<
+                                                   "\nThe alignment is wrong!\nIt has to be "
+                                                   << alignof(InputT) << ", but the data is aligned with "
+                                                   << ptrAsInt % alignof(std::max_align_t)
+                                                   << "!\nThis is an offset of " << (ptrAsInt % alignof(InputT))
+                                                   << " bytes!\nThe datatype is " << GetTypeString<InputT>()
+                                                   << "\nIts size is " << sizeof(InputT)
+                                                   << " bytes";
             inputs = static_cast<InputT*>(ptr);
         }
         void setOutputPDO(void* ptr) override
         {
             const auto ptrAsInt = reinterpret_cast<std::uint64_t>(ptr);
-            ARMARX_CHECK_EXPRESSION_W_HINT(
-                (ptrAsInt % alignof(OutputT)) == 0,
-                "\nThe alignment is wrong!\nIt has to be "
-                << alignof(OutputT) << ", but the data is aligned with "
-                << ptrAsInt % alignof(std::max_align_t)
-                << "!\nThis is an offset of " << (ptrAsInt % alignof(OutputT))
-                << " bytes!\nThe datatype is " << GetTypeString<OutputT>()
-                << "\nIts size is " << sizeof(OutputT)
-                << " bytes"
-            );
+            ARMARX_CHECK_EXPRESSION(
+                (ptrAsInt % alignof(OutputT)) == 0) <<
+                                                    "\nThe alignment is wrong!\nIt has to be "
+                                                    << alignof(OutputT) << ", but the data is aligned with "
+                                                    << ptrAsInt % alignof(std::max_align_t)
+                                                    << "!\nThis is an offset of " << (ptrAsInt % alignof(OutputT))
+                                                    << " bytes!\nThe datatype is " << GetTypeString<OutputT>()
+                                                    << "\nIts size is " << sizeof(OutputT)
+                                                    << " bytes";
             outputs = static_cast<OutputT*>(ptr);
         }
         bool hasPDOMapping() const final override
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp
index d85ca3490aa355e853dc7b65ec873a0710b4e668..3ba0cd1a3b3e45be76353f5357894beff10b7163 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp
@@ -70,7 +70,7 @@ namespace armarx
                 auto name = node.attribute_value("name");
                 ARMARX_DEBUG << "Handling: " << node.name() << " name: " << name;
                 //            auto obj = getSceneObject(name);
-                //            ARMARX_CHECK_EXPRESSION_W_HINT(obj, name);
+                //            ARMARX_CHECK_EXPRESSION(obj) << name;
                 auto tuple = std::make_tuple(node, defaultNode, robot);
                 auto instance = VirtualDeviceFactory::fromName(node.name(), tuple);
                 if (!instance)
diff --git a/source/RobotAPI/libraries/DSControllers/DSJointCarryController.cpp b/source/RobotAPI/libraries/DSControllers/DSJointCarryController.cpp
index 87973287030bf4dac0f45a0a0af25c8fb930afe7..d85b1a78d4bd192e56e95c1c5eef0ed1350138c2 100644
--- a/source/RobotAPI/libraries/DSControllers/DSJointCarryController.cpp
+++ b/source/RobotAPI/libraries/DSControllers/DSJointCarryController.cpp
@@ -77,8 +77,8 @@ DSJointCarryController::DSJointCarryController(const RobotUnitPtr& robotUnit, co
     left_jointNames.clear();
     right_jointNames.clear();
 
-    ARMARX_CHECK_EXPRESSION_W_HINT(left_ns, "LeftArm");
-    ARMARX_CHECK_EXPRESSION_W_HINT(right_ns, "RightArm");
+    ARMARX_CHECK_EXPRESSION(left_ns) << "LeftArm";
+    ARMARX_CHECK_EXPRESSION(right_ns) << "RightArm";
 
     // for left arm
     for (size_t i = 0; i < left_ns->getSize(); ++i)
diff --git a/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.cpp b/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.cpp
index b27e2d95809ae52f73c5c6e341f123bef6e6b941..6f0b438717a13aefdbc6c68a6e949808a6243bd8 100644
--- a/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.cpp
+++ b/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.cpp
@@ -77,8 +77,8 @@ namespace armarx
         left_jointNames.clear();
         right_jointNames.clear();
 
-        ARMARX_CHECK_EXPRESSION_W_HINT(left_ns, "LeftArm");
-        ARMARX_CHECK_EXPRESSION_W_HINT(right_ns, "RightArm");
+        ARMARX_CHECK_EXPRESSION(left_ns) << "LeftArm";
+        ARMARX_CHECK_EXPRESSION(right_ns) << "RightArm";
 
         // for left arm
         for (size_t i = 0; i < left_ns->getSize(); ++i)
diff --git a/source/RobotAPI/libraries/DSControllers/DSRTController.cpp b/source/RobotAPI/libraries/DSControllers/DSRTController.cpp
index 53d89208654b540280009cc687fcc47194e2ee71..2c9e75497c9730f7cc5b89a6bd67e12eb5a9852d 100644
--- a/source/RobotAPI/libraries/DSControllers/DSRTController.cpp
+++ b/source/RobotAPI/libraries/DSControllers/DSRTController.cpp
@@ -63,7 +63,7 @@ namespace armarx
         VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(cfg->nodeSetName);
 
         jointNames.clear();
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << cfg->nodeSetName;
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
             std::string jointName = rns->getNode(i)->getName();
@@ -96,7 +96,7 @@ namespace armarx
         };
         ARMARX_INFO << "Initialized " << targets.size() << " targets";
         tcp =  rns->getTCP();
-        ARMARX_CHECK_EXPRESSION_W_HINT(tcp, cfg->tcpName);
+        ARMARX_CHECK_EXPRESSION(tcp) << cfg->tcpName;
 
 
         ik.reset(new VirtualRobot::DifferentialIK(rns, rtGetRobot()->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointAdaptiveWipingController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointAdaptiveWipingController.cpp
index 630e11b7630c28fa15807a364a30e867fdf881f2..a79f9120177daef4a3d51d1e42c838927ceb58d5 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointAdaptiveWipingController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointAdaptiveWipingController.cpp
@@ -13,7 +13,7 @@ namespace armarx
         ARMARX_CHECK_EXPRESSION(!cfg->nodeSetName.empty());
         VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(cfg->nodeSetName);
 
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << cfg->nodeSetName;
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
             std::string jointName = rns->getNode(i)->getName();
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointAnomalyDetectionAdaptiveWipingController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointAnomalyDetectionAdaptiveWipingController.cpp
index 843a8704145eef3c80b133bd2f1e225e012f5fd9..2e3ec38e5e4cf64955a6ca6107b32e779aa1418e 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointAnomalyDetectionAdaptiveWipingController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointAnomalyDetectionAdaptiveWipingController.cpp
@@ -13,7 +13,7 @@ namespace armarx
         ARMARX_CHECK_EXPRESSION(!cfg->nodeSetName.empty());
         VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(cfg->nodeSetName);
 
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << cfg->nodeSetName;
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
             std::string jointName = rns->getNode(i)->getName();
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
index 837c624dba875a35c46c13c9769664ab9e6ee674..98e91a6fe769b1c81cfbd313bf73a5ee8fc7a0d0 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
@@ -13,7 +13,7 @@ namespace armarx
         ARMARX_CHECK_EXPRESSION(!cfg->nodeSetName.empty());
         VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(cfg->nodeSetName);
 
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << cfg->nodeSetName;
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
             std::string jointName = rns->getNode(i)->getName();
@@ -37,7 +37,7 @@ namespace armarx
         };
 
         tcp = (cfg->tcpName.empty()) ? rns->getTCP() : rtGetRobot()->getRobotNode(cfg->tcpName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(tcp, cfg->tcpName);
+        ARMARX_CHECK_EXPRESSION(tcp) << cfg->tcpName;
 
         // set tcp controller
         tcpController.reset(new CartesianVelocityController(rns, tcp));
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.cpp
index 11d0637a53ea10892ddf40f82b3f3cb64b6d61fd..e5f7df8ef3a01bc95d68f4e59f8fe39b043a176a 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.cpp
@@ -23,7 +23,7 @@ namespace armarx
         useSynchronizedRtRobot();
 
         cfg = NJointJointSpaceDMPControllerConfigPtr::dynamicCast(config);
-        ARMARX_CHECK_EXPRESSION_W_HINT(cfg, "Needed type: NJointJointSpaceDMPControllerConfigPtr");
+        ARMARX_CHECK_EXPRESSION(cfg) << "Needed type: NJointJointSpaceDMPControllerConfigPtr";
 
         for (std::string jointName : cfg->jointNames)
         {
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
index b8e560bb9dd0f341cde6a8ae57bf65ae58ff196a..1a173c43b48400f9796f92c437ff1a1ec934918e 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
@@ -13,7 +13,7 @@ namespace armarx
         ARMARX_CHECK_EXPRESSION(!cfg->nodeSetName.empty());
         VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(cfg->nodeSetName);
 
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << cfg->nodeSetName;
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
             std::string jointName = rns->getNode(i)->getName();
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPForwardVelController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPForwardVelController.cpp
index 24b98a2ea15d0919be10196f834482d385983dcb..abbebd242dd5b6b8755eff620d06af9dcf854922 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPForwardVelController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPForwardVelController.cpp
@@ -13,7 +13,7 @@ namespace armarx
         ARMARX_CHECK_EXPRESSION(!cfg->nodeSetName.empty());
         VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(cfg->nodeSetName);
 
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << cfg->nodeSetName;
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
             std::string jointName = rns->getNode(i)->getName();
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.cpp
index b63554a7dc4ae326a6d1e80af6210581590c6594..efbb78ce6ac40d4104e059167446028c4a4dceb0 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.cpp
@@ -16,7 +16,7 @@ namespace armarx
         ARMARX_CHECK_EXPRESSION(!cfg->nodeSetName.empty());
         VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(cfg->nodeSetName);
         jointNames = rns->getNodeNames();
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << cfg->nodeSetName;
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
             std::string jointName = rns->getNode(i)->getName();
@@ -45,7 +45,7 @@ namespace armarx
 
         tcp = (cfg->tcpName.empty()) ? rns->getTCP() : rtGetRobot()->getRobotNode(cfg->tcpName);
         refFrame = (cfg->frameName.empty()) ? rns->getRobot()->getRootNode() : rtGetRobot()->getRobotNode(cfg->frameName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(tcp, cfg->tcpName);
+        ARMARX_CHECK_EXPRESSION(tcp) << cfg->tcpName;
 
         // set tcp controller
         tcpController.reset(new CartesianVelocityController(rns, tcp));
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index e284a6c0866fa35d34baa580ede3976b0049afef..e52e8c26f863b165dca8605226747e66e68a7aee 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -12,7 +12,7 @@ namespace armarx
         cfg = NJointTaskSpaceImpedanceDMPControllerConfigPtr::dynamicCast(config);
         useSynchronizedRtRobot();
         rns = rtGetRobot()->getRobotNodeSet(cfg->nodeSetName);
-        ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+        ARMARX_CHECK_EXPRESSION(rns) << cfg->nodeSetName;
 
         for (size_t i = 0; i < rns->getSize(); ++i)
         {
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index a1b0464715739f9ca19a88570e311576f24c980e..2e0e792d0f9d4f817eb9efa723f7991bebef812f 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -228,15 +228,15 @@ namespace armarx
         if (oldFrame == GlobalFrame)
         {
             auto node = robotState->getRobotNode(newFrame);
-            ARMARX_CHECK_EXPRESSION_W_HINT(node, newFrame);
+            ARMARX_CHECK_EXPRESSION(node) << newFrame;
             toNewFrame = node->getGlobalPose();
         }
         else
         {
             auto node = robotState->getRobotNode(oldFrame);
-            ARMARX_CHECK_EXPRESSION_W_HINT(node, "old frame: " + oldFrame + ValueToString(robotState->getConfig()->getRobotNodeJointValueMap()));
+            ARMARX_CHECK_EXPRESSION(node) << "old frame: " + oldFrame + ValueToString(robotState->getConfig()->getRobotNodeJointValueMap());
             auto newNode = robotState->getRobotNode(newFrame);
-            ARMARX_CHECK_EXPRESSION_W_HINT(newNode, newFrame);
+            ARMARX_CHECK_EXPRESSION(newNode) << newFrame;
             toNewFrame = node->getTransformationTo(newNode);
         }
 
diff --git a/source/RobotAPI/libraries/core/LinkedPose.cpp b/source/RobotAPI/libraries/core/LinkedPose.cpp
index 79437b4a38987faa9ed4d88b79e093e339868ffd..00391df0cba8d2a9b94cb368cdf16738c7e4c2c8 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.cpp
+++ b/source/RobotAPI/libraries/core/LinkedPose.cpp
@@ -68,7 +68,7 @@ namespace armarx
         Pose(other),
         FramedPose(other)
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(referenceRobot, "The robot proxy must not be zero");
+        ARMARX_CHECK_EXPRESSION(referenceRobot) << "The robot proxy must not be zero";
         this->referenceRobot = referenceRobot;
 
         if (referenceRobot)
@@ -83,7 +83,7 @@ namespace armarx
         Pose(m, v),
         FramedPose(m, v, s, referenceRobot->getName())
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(referenceRobot, "The robot proxy must not be zero");
+        ARMARX_CHECK_EXPRESSION(referenceRobot) << "The robot proxy must not be zero";
         referenceRobot->ref();
         this->referenceRobot = referenceRobot;
     }
@@ -92,7 +92,7 @@ namespace armarx
         Pose(m),
         FramedPose(m, s, referenceRobot->getName())
     {
-        ARMARX_CHECK_EXPRESSION_W_HINT(referenceRobot, "The robot proxy must not be zero");
+        ARMARX_CHECK_EXPRESSION(referenceRobot) << "The robot proxy must not be zero";
         referenceRobot->ref();
         this->referenceRobot = referenceRobot;
     }
diff --git a/source/RobotAPI/libraries/core/Trajectory.cpp b/source/RobotAPI/libraries/core/Trajectory.cpp
index 90c68c71c1fd0ca963f8f4eb1bc05c1d926be1f7..f8068131cc9a3d0b939ff06242505195310f830a 100644
--- a/source/RobotAPI/libraries/core/Trajectory.cpp
+++ b/source/RobotAPI/libraries/core/Trajectory.cpp
@@ -273,7 +273,7 @@ namespace armarx
 
         }
 
-        ARMARX_CHECK_GREATER_W_HINT(vec.at(dim)->size(), derivation, VAROUT(t) << VAROUT(dim) << VAROUT(*this));
+        ARMARX_CHECK_GREATER(vec.at(dim)->size(), derivation) << VAROUT(t) << VAROUT(dim) << VAROUT(*this);
         //    std::cout << "dimensions: " <<it->data.size() << " derivations: " <<  it->data.at(dim)->size() << std::endl;
         double result = vec.at(dim)->at(derivation);
         //    checkValue(result);
@@ -1495,7 +1495,7 @@ namespace armarx
         if (itPrev != ordView.end())
         {
             //            ARMARX_INFO << "Found prev state at " << itPrev->timestamp;
-            ARMARX_CHECK_NOT_EQUAL_W_HINT(t, itPrev->timestamp, VAROUT(t) << VAROUT(itPrev->timestamp) << VAROUT(*this));
+            ARMARX_CHECK_NOT_EQUAL(t, itPrev->timestamp) << VAROUT(t) << VAROUT(itPrev->timestamp) << VAROUT(*this);
             previous = getState(itPrev->timestamp, dimension, derivation);
         }
 
@@ -1508,7 +1508,7 @@ namespace armarx
         if (itNext != ordView.end())
         {
             //            ARMARX_INFO << "Found next state at " << itNext->timestamp;
-            ARMARX_CHECK_NOT_EQUAL_W_HINT(t, itNext->timestamp, VAROUT(t) << VAROUT(itNext->timestamp));
+            ARMARX_CHECK_NOT_EQUAL(t, itNext->timestamp) << VAROUT(t) << VAROUT(itNext->timestamp);
             next = getState(itNext->timestamp, dimension, derivation);
         }
 
@@ -1679,7 +1679,7 @@ namespace armarx
             currentTimestamp += stepSize;
             i++;
         }
-        ARMARX_CHECK_EQUAL_W_HINT(result.size(), size, VAROUT(startTime) << VAROUT(endTime) << VAROUT(stepSize));
+        ARMARX_CHECK_EQUAL(result.size(), size) << VAROUT(startTime) << VAROUT(endTime) << VAROUT(stepSize);
         return result;
     }
 
@@ -1934,7 +1934,7 @@ namespace armarx
         }
         else
         {
-            ARMARX_CHECK_EXPRESSION_W_HINT(timestamps.size() ==  values.size(), timestamps.size() << ", " <<  values.size());
+            ARMARX_CHECK_EXPRESSION(timestamps.size() ==  values.size()) << timestamps.size() << ", " <<  values.size();
 
             for (size_t i = 0; i < timestamps.size(); ++i)
             {
diff --git a/source/RobotAPI/libraries/core/test/RobotTest.cpp b/source/RobotAPI/libraries/core/test/RobotTest.cpp
index c34a4d38a05e660e016bc768612dd12956221f79..b16bf6cbc4528994969fdc60b2f786f44f528252 100644
--- a/source/RobotAPI/libraries/core/test/RobotTest.cpp
+++ b/source/RobotAPI/libraries/core/test/RobotTest.cpp
@@ -41,7 +41,7 @@ BOOST_AUTO_TEST_CASE(RobotPoolTest)
     const std::string project = "RobotAPI";
     armarx::CMakePackageFinder finder(project);
 
-    ARMARX_CHECK_EXPRESSION_W_HINT(finder.packageFound(), project);
+    ARMARX_CHECK_EXPRESSION(finder.packageFound()) << project;
 
 
     armarx::ArmarXDataPath::addDataPaths(finder.getDataDir());
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.cpp b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.cpp
index 10cf524b783e1c29d1abc590143e97e1dec2734a..08a05bfdd371bad4071f92ff3530d375578a145a 100644
--- a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.cpp
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.cpp
@@ -48,7 +48,7 @@ void TestState::onEnter()
     ARMARX_IMPORTANT << "TestParam2: " << TestParam2;
     ARMARX_IMPORTANT << "TestParam3: " << TestParam3;
 
-    ARMARX_CHECK_EXPRESSION_W_HINT(emptyString == "", "EmptyStringTest is not empty.");
+    ARMARX_CHECK_EXPRESSION(emptyString == "") << "EmptyStringTest is not empty.";
     ARMARX_CHECK_EXPRESSION(TestParam1 == "OnlyRootSet");
     ARMARX_CHECK_EXPRESSION(TestParam2 == "Armar3BaseSet");
     ARMARX_CHECK_EXPRESSION(TestParam3 == "Armar3aSet" || TestParam3 == "Armar3SimulationSet");