diff --git a/source/armarx/navigation/algorithms/astar/NavigationCostMap.cpp b/source/armarx/navigation/algorithms/astar/NavigationCostMap.cpp
index 8900c79926c99ed66fa24396c8c83c7c4503731e..883f20a135b0801876c4ae172a916bce55a1bf59 100644
--- a/source/armarx/navigation/algorithms/astar/NavigationCostMap.cpp
+++ b/source/armarx/navigation/algorithms/astar/NavigationCostMap.cpp
@@ -95,7 +95,12 @@ namespace armarx::navigation::algorithm::astar
 
         robotCollisionModel->setGlobalPose(globalPose.matrix());
 
-        VirtualRobot::BoundingBox robotBbox = robotCollisionModel->getBoundingBox(true);
+        // Unused.
+        if (false)
+        {
+            VirtualRobot::BoundingBox robotBbox = robotCollisionModel->getBoundingBox(true);
+            (void) robotBbox;
+        }
 
         Eigen::Vector3f P1;
         Eigen::Vector3f P2;
diff --git a/source/armarx/navigation/core/Graph.h b/source/armarx/navigation/core/Graph.h
index 5b8fb88b6fdd83b4f83a1f6ae3355feba9804c64..904f51c69913e698c064c0edf0debcf9348fdf02 100644
--- a/source/armarx/navigation/core/Graph.h
+++ b/source/armarx/navigation/core/Graph.h
@@ -58,7 +58,7 @@ namespace armarx::navigation::core
     {
         armarx::navigation::core::arondto::Edge aron;
 
-        client::GlobalPlanningStrategy strategy;
+        client::GlobalPlanningStrategy strategy = client::GlobalPlanningStrategy::Free;
 
         // client::Config config;
         float&