diff --git a/source/armarx/navigation/global_planning/AStar.h b/source/armarx/navigation/global_planning/AStar.h
index bb583dd571106cf686cd3821ceca6be93168a661..8336a9ce454091a851d37b0bb4299c552e830bdd 100644
--- a/source/armarx/navigation/global_planning/AStar.h
+++ b/source/armarx/navigation/global_planning/AStar.h
@@ -52,7 +52,9 @@ namespace armarx::navigation::global_planning
     class AStar : public GlobalPlanner
     {
     public:
-        AStar(const AStarParams& params, const core::Scene& ctx);
+        using Params = AStarParams;
+
+        AStar(const Params& params, const core::Scene& ctx);
         ~AStar() override = default;
 
         std::optional<GlobalPlannerResult> plan(const core::Pose& goal) override;
@@ -63,7 +65,7 @@ namespace armarx::navigation::global_planning
         std::vector<Eigen::Vector2f> postProcessPath(const std::vector<Eigen::Vector2f>& path);
 
     private:
-        AStarParams params;
+        Params params;
     };
 
 } // namespace armarx::navigation::global_planning
diff --git a/source/armarx/navigation/server/Navigator.cpp b/source/armarx/navigation/server/Navigator.cpp
index 57d78b3c41cce2b8e19e5ea23201e03289ec6bda..d900124d984af487fc39213200c3db93435f2490 100644
--- a/source/armarx/navigation/server/Navigator.cpp
+++ b/source/armarx/navigation/server/Navigator.cpp
@@ -567,7 +567,7 @@ namespace armarx::navigation::server
         ARMARX_TRACE;
         core::Trajectory globalPlanTrajectory = convertToTrajectory(shortestPath, graph);
 
-        globalPlanTrajectory.setMaxVelocity(1000); // FIXME
+        // globalPlanTrajectory.setMaxVelocity(1000); // FIXME
 
         // move ...
 
@@ -707,6 +707,7 @@ namespace armarx::navigation::server
         ARMARX_CHECK_NOT_NULL(config.stack.globalPlanner);
         // TODO plan on multiple waypoints, ignoring waypoints for now
         // idea: compute multiple global trajectories, one for each segment between waypoints.
+
         srv.introspector->onGoal(waypoints.back());
         globalPlan = config.stack.globalPlanner->plan(waypoints.back());