diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt
index e92a5b368905d9046bb439cf435c9ae4276aed3e..bac8435fcbaf49e0c86046407c383bb2d9edcf99 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt
@@ -17,6 +17,7 @@ armarx_add_component(
 
 # Add unit tests
 add_subdirectory(test)
+target_compile_options("${LIB_NAME}" PRIVATE -std=c++2b)
 
 # Generate the application
 armarx_generate_and_add_component_executable(
diff --git a/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt b/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
index 7136f05db5538c47faa2ed7d875a69166172e6db..da370a54de6d89619c84fc9431ab706ee3d14cf9 100644
--- a/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
+++ b/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
@@ -40,6 +40,7 @@ set(HEADERS
 
 
 armarx_add_component("${SOURCES}" "${HEADERS}")
+target_compile_options("DynamicObstacleManager" PRIVATE -std=c++2b)
 
 armarx_generate_and_add_component_executable()
 
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt b/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt
index a87ba755cb2744ece8508856d8d80e5ac8251744..025c71bf7f5943027e1246f1f39d8c6334fccd1b 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt
@@ -15,6 +15,8 @@ armarx_add_component(
         VirtualRobotWriterExample.h
 )
 
+target_compile_options("${LIB_NAME}" PRIVATE -std=c++2b)
+
 # Generate the application
 armarx_generate_and_add_component_executable(
     # If your component is not defined in ::armarx, specify its namespace here:
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
index 8ce9b397c9147d041290f5f8f73c203d6b8cb326..c8732fb16f939caf5685676ab130b9acd80e9571 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
@@ -159,7 +159,7 @@ namespace armarx
 
         getWriterControlStruct().target << x, y;
         getWriterControlStruct().targetOrientation =
-            simox::math::periodic_clamp(yaw, -M_PIf32, M_PIf32);
+            simox::math::periodic_clamp(yaw, -M_PIf, M_PIf);
 
         getWriterControlStruct().translationAccuracy = translationAccuracy;
         getWriterControlStruct().rotationAccuracy = rotationAccuracy;