diff --git a/source/armarx/navigation/components/Navigator/Navigator.cpp b/source/armarx/navigation/components/Navigator/Navigator.cpp
index 26ae33d2adc6b0302559d5b8b1568491b62878d9..adc02e00bb8a751fa836819c77dc573e4dfee4e4 100644
--- a/source/armarx/navigation/components/Navigator/Navigator.cpp
+++ b/source/armarx/navigation/components/Navigator/Navigator.cpp
@@ -100,7 +100,6 @@ namespace armarx::navigation
     std::vector<core::Pose>
     convert(const std::vector<Eigen::Matrix4f>& wps)
     {
-        using namespace armarx::navigation;
         std::vector<core::Pose> p;
         p.reserve(wps.size());
         std::transform(wps.begin(),
@@ -125,6 +124,7 @@ namespace armarx::navigation::components
         addPlugin(eventsWriterPlugin);
         addPlugin(resultsWriterPlugin);
         addPlugin(graphReaderPlugin);
+        addPlugin(costmapReaderPlugin);
         addPlugin(costmapWriterPlugin);
 
         addPlugin(virtualRobotReaderPlugin);
@@ -181,8 +181,10 @@ namespace armarx::navigation::components
 
         initializeScene();
 
+        ARMARX_TRACE;
         executor.emplace(server::PlatformControllerExecutor(getControlComponentPlugin()));
 
+        ARMARX_TRACE;
         introspector = server::ArvizIntrospector(getArvizClient(), scene().robot);