diff --git a/source/Navigation/libraries/server/execution/DummyExecutor.h b/source/Navigation/libraries/server/execution/DummyExecutor.h
index 008dd2ba243f084133c7a9b7ecb5b9585b1b1f39..d5d075e58910c4c1dd358bbf9af8fa77765cd269 100644
--- a/source/Navigation/libraries/server/execution/DummyExecutor.h
+++ b/source/Navigation/libraries/server/execution/DummyExecutor.h
@@ -11,6 +11,7 @@
 #include <VirtualRobot/Robot.h>
 
 // Navigation
+#include "Navigation/libraries/core/types.h"
 #include <Navigation/libraries/server/execution/ExecutorInterface.h>
 
 
@@ -43,7 +44,7 @@ namespace armarx::nav::server
 
             const Eigen::Affine3f diff; // = Eigen::Affine3f(Eigen::Translation3f(twist.linear * dt)) * Eigen::Affine3f(Eigen::AngleAxisf(dt, twist.angular)));
 
-            robot->setGlobalPose(robot->getGlobalPose() * diff);
+            robot->setGlobalPose(robot->getGlobalPose() * diff.matrix());
         }
 
     private:
diff --git a/source/Navigation/libraries/server/test/serverTest.cpp b/source/Navigation/libraries/server/test/serverTest.cpp
index 743373f0343b5f4af2dd7eebe6d00fd2f123c6b4..6695d314a095931b6d961e2a00c1843bb196172b 100644
--- a/source/Navigation/libraries/server/test/serverTest.cpp
+++ b/source/Navigation/libraries/server/test/serverTest.cpp
@@ -62,7 +62,7 @@ BOOST_AUTO_TEST_CASE(testNavigator)
             traj_ctrl::TrajectoryFollowingControllerParams(), scene)};
 
     // Executor.
-    server::DummyExecturo executor{scene.robot};
+    server::DummyExecutor executor{scene.robot, server::DummyExecutor::Params()};
 
     server::Navigator navigator(stack, scene, executor);
     navigator.moveTo(goal, core::NavigationFrames::Absolute);