diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
index d0c7371051effc8f00a007687723ece0e2fa5cb9..fc83132850cfb652359c0ef7cca81d89e3ff3aac 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
@@ -7,92 +7,79 @@
 
 namespace armarx::plugins
 {
-    void
-    HeartbeatComponentPlugin::configureHeartbeatChannel(const std::string& channel,
-            const RobotHealthHeartbeatArgs& args)
+    void HeartbeatComponentPlugin::configureHeartbeatChannel(const std::string& channel,
+                                                             const RobotHealthHeartbeatArgs& args)
     {
         channelHeartbeatConfig.emplace(channel, args);
     }
 
-    void
-    HeartbeatComponentPlugin::heartbeat()
+    void HeartbeatComponentPlugin::heartbeat()
     {
 
         if (robotHealthTopic)
         {
             robotHealthTopic->heartbeat(componentName, heartbeatArgs);
-        }
-        else
+        } else
         {
             ARMARX_WARNING << "No robot health topic available!";
         }
     }
 
-    void
-    HeartbeatComponentPlugin::heartbeat(const std::string& channel)
+    void HeartbeatComponentPlugin::heartbeat(const std::string& channel)
     {
         const auto argsIt = channelHeartbeatConfig.find(channel);
-        ARMARX_CHECK(argsIt != channelHeartbeatConfig.end())
-                << "heartbeat() called for unknown channel '" << channel << "'."
-                << "You must register the config using configureHeartbeatChannel(channel) first!";
+        ARMARX_CHECK(argsIt != channelHeartbeatConfig.end()) << "heartbeat() called for unknown channel '" << channel
+                                                             << "'."
+                                                             << "You must register the config using configureHeartbeatChannel(channel) first!";
 
         const auto& args = argsIt->second;
 
         if (robotHealthTopic)
         {
             robotHealthTopic->heartbeat(componentName + "_" + channel, args);
-        }
-        else
+        } else
         {
             ARMARX_WARNING << "No robot health topic available!";
         }
     }
 
-    void
-    HeartbeatComponentPlugin::preOnInitComponent()
+    void HeartbeatComponentPlugin::preOnInitComponent()
     {
-        if (topicName.empty())
-        {
-            parent<Component>().getProperty(topicName, makePropertyName(topicPropertyName));
-        }
-        parent<Component>().offeringTopic(topicName);
+        //        if (topicName.empty())
+        //        {
+        //            parent<Component>().getProperty(topicName, makePropertyName(topicPropertyName));
+        //        }
+        //        parent<Component>().offeringTopic(topicName);
     }
 
-    void
-    HeartbeatComponentPlugin::postOnInitComponent()
+    void HeartbeatComponentPlugin::postOnInitComponent()
     {
     }
 
-    void
-    HeartbeatComponentPlugin::preOnConnectComponent()
+    void HeartbeatComponentPlugin::preOnConnectComponent()
     {
-        robotHealthTopic = parent<Component>().getTopic<RobotHealthInterfacePrx>(topicName);
+        //        robotHealthTopic = parent<Component>().getTopic<RobotHealthInterfacePrx>(topicName);
         componentName = parent<Component>().getName();
     }
 
-    void
-    HeartbeatComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+    void HeartbeatComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
     {
         if (!properties->hasDefinition(makePropertyName(topicPropertyName)))
         {
-            properties->defineOptionalProperty<std::string>(
-                makePropertyName(topicPropertyName),
-                "DebugObserver",
-                "Name of the topic the DebugObserver listens on");
+            properties->topic(robotHealthTopic, topicName, topicPropertyName,
+                              "Name of the topic the DebugObserver listens on");
         }
 
         if (not properties->hasDefinition(makePropertyName(maximumCycleTimeWarningMSPropertyName)))
         {
-            properties->defineRequiredProperty<std::string>(
-                makePropertyName(maximumCycleTimeWarningMSPropertyName),
-                "TODO: maximumCycleTimeWarningMS");
+            properties->required(heartbeatArgs.maximumCycleTimeWarningMS, maximumCycleTimeWarningMSPropertyName,
+                                 "maximum cycle time before warning is emitted");
         }
 
         if (not properties->hasDefinition(makePropertyName(maximumCycleTimeErrorMSPropertyName)))
         {
-            properties->defineRequiredProperty<std::string>(
-                makePropertyName(maximumCycleTimeErrorMSPropertyName),
-                "TODO: maximumCycleTimeErrorMS");
+            properties->required(heartbeatArgs.maximumCycleTimeErrorMS, maximumCycleTimeErrorMSPropertyName,
+                                 "maximum cycle time before error is emitted");
         }
     }
 
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
index 6a4a6c2bd692484c94bbd42bdfff399b0f5a0aa9..80cf546726085b6ca03406a7dc1abc91e647c11c 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
@@ -66,7 +66,7 @@ namespace armarx::plugins
 
     private:
         //! heartbeat topic name (outgoing)
-        std::string topicName;
+        std::string topicName{"DebugObserver"};
 
         //! name of this component used as identifier for heartbeats
         std::string componentName;
diff --git a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.cpp b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.cpp
index d8a3246de16fa15282559204e96f45f516567d7c..6830dbc16972143111bdacecaf52907bf99d8427 100644
--- a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.cpp
+++ b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.cpp
@@ -38,6 +38,11 @@ namespace armarx::filters
                 int newValue = dataHistory.rbegin()->second->getInt() - initialValue->getInt();
                 newVariant = new Variant(newValue);
             }
+            else if (type == VariantType::Long)
+            {
+                long newValue = dataHistory.rbegin()->second->getLong() - initialValue->getLong();
+                newVariant = new Variant(newValue);
+            }
             else if (type == VariantType::Float)
             {
                 float newValue = dataHistory.rbegin()->second->getFloat() - initialValue->getFloat();
@@ -80,6 +85,7 @@ namespace armarx::filters
     {
         ParameterTypeList result;
         result.push_back(VariantType::Int);
+        result.push_back(VariantType::Long);
         result.push_back(VariantType::Float);
         result.push_back(VariantType::Double);
         result.push_back(VariantType::FramedDirection);