diff --git a/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp b/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
index b6c88e55bf8def186f58c848586770d2adeb3854..4d1dbc1b5555305daafeb61cf6cd9585f3c7ef09 100644
--- a/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
+++ b/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
@@ -59,22 +59,22 @@ namespace armarx::navigation::server
         drawLocalTrajectory(result.trajectory);
     }
 
-    void
-    ArvizIntrospector::onTrajectoryControllerResult(
-        const traj_ctrl::TrajectoryControllerResult& result)
-    {
-        std::lock_guard g{mtx};
-
-        drawRawVelocity(result.twist);
-    }
-
-    void
-    ArvizIntrospector::onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result)
-    {
-        std::lock_guard g{mtx};
-
-        drawSafeVelocity(result.twist);
-    }
+    // void
+    // ArvizIntrospector::onTrajectoryControllerResult(
+    //     const traj_ctrl::TrajectoryControllerResult& result)
+    // {
+    //     std::lock_guard g{mtx};
+
+    //     drawRawVelocity(result.twist);
+    // }
+
+    // void
+    // ArvizIntrospector::onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result)
+    // {
+    //     std::lock_guard g{mtx};
+
+    //     drawSafeVelocity(result.twist);
+    // }
 
     void
     ArvizIntrospector::onGoal(const core::Pose& goal)
diff --git a/source/armarx/navigation/server/introspection/ArvizIntrospector.h b/source/armarx/navigation/server/introspection/ArvizIntrospector.h
index e91d4b608df6ed1517bb8b8cd864f195267b8bd6..a3daddc48d80315c081f1d3169bf251824d1b69c 100644
--- a/source/armarx/navigation/server/introspection/ArvizIntrospector.h
+++ b/source/armarx/navigation/server/introspection/ArvizIntrospector.h
@@ -54,10 +54,7 @@ namespace armarx::navigation::server
 
         void onGlobalPlannerResult(const global_planning::GlobalPlannerResult& result) override;
         void onLocalPlannerResult(const loc_plan::LocalPlannerResult& result) override;
-        void
-        onTrajectoryControllerResult(const traj_ctrl::TrajectoryControllerResult& result) override;
-        void onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result) override;
-
+        
         void onGoal(const core::Pose& goal) override;
 
         void success();
diff --git a/source/armarx/navigation/server/introspection/IntrospectorInterface.h b/source/armarx/navigation/server/introspection/IntrospectorInterface.h
index 92176601e325c9d2912c2f88e061afaea83abc83..18eaa36bc1368345ae3d73add730566c17883203 100644
--- a/source/armarx/navigation/server/introspection/IntrospectorInterface.h
+++ b/source/armarx/navigation/server/introspection/IntrospectorInterface.h
@@ -44,9 +44,6 @@ namespace armarx::navigation::server
 
         virtual void onGlobalPlannerResult(const global_planning::GlobalPlannerResult& result) = 0;
         virtual void onLocalPlannerResult(const loc_plan::LocalPlannerResult& result) = 0;
-        virtual void
-        onTrajectoryControllerResult(const traj_ctrl::TrajectoryControllerResult& result) = 0;
-        virtual void onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result) = 0;
 
         virtual void onGlobalShortestPath(const std::vector<core::Pose>& path) = 0;
 
diff --git a/source/armarx/navigation/server/introspection/MemoryIntrospector.cpp b/source/armarx/navigation/server/introspection/MemoryIntrospector.cpp
index 226a0c80806a9700efcff8231f00b418a62c6d83..aaf84a09d75d103ba358908b44326d25a300f6ac 100644
--- a/source/armarx/navigation/server/introspection/MemoryIntrospector.cpp
+++ b/source/armarx/navigation/server/introspection/MemoryIntrospector.cpp
@@ -22,18 +22,6 @@ namespace armarx::navigation::server
         // TODO(fabian.reister): implement
     }
 
-    void
-    MemoryIntrospector::onTrajectoryControllerResult(
-        const traj_ctrl::TrajectoryControllerResult& result)
-    {
-        // TODO(fabian.reister): implement
-    }
-
-    void
-    MemoryIntrospector::onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result)
-    {
-        // TODO(fabian.reister): implement
-    }
 
     void
     MemoryIntrospector::onGoal(const core::Pose& goal)
diff --git a/source/armarx/navigation/server/introspection/MemoryIntrospector.h b/source/armarx/navigation/server/introspection/MemoryIntrospector.h
index a141d4ba648d13c08e1ec8dacd9dc35c2944dbcf..9d473a7457777cec2601128846af65b343dc4a4b 100644
--- a/source/armarx/navigation/server/introspection/MemoryIntrospector.h
+++ b/source/armarx/navigation/server/introspection/MemoryIntrospector.h
@@ -40,9 +40,6 @@ namespace armarx::navigation::server
 
         void onGlobalPlannerResult(const global_planning::GlobalPlannerResult& result) override;
         void onLocalPlannerResult(const loc_plan::LocalPlannerResult& result) override;
-        void
-        onTrajectoryControllerResult(const traj_ctrl::TrajectoryControllerResult& result) override;
-        void onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result) override;
 
         void onGoal(const core::Pose& goal) override;