diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index af6a391295c5dd8326addd850613584344237452..14eee8730cfcdb657f704de37b0729b18557e25b 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -141,20 +141,6 @@ namespace armarx
         {
             ARMARX_WARNING << "Failed to read robot info from file: " << robotFile;
         }
-
-
-        /*VirtualRobot::RobotNodeSetPtr pns = this->_synchronized->getRobotNodeSet("Platform");
-        if (pns)
-        {
-            usingTopic("PlatformState");
-            vector<RobotNodePtr> nodes = pns->getAllRobotNodes();
-
-            ARMARX_VERBOSE << "Using RobotNodeSet Platform with " << nodes.size() << " robot nodes.";
-            BOOST_FOREACH(RobotNodePtr node, nodes)
-            {
-                ARMARX_VERBOSE << "Node: " << node->getName() << endl;
-            }
-        }*/
     }
 
     void RobotStateComponent::readRobotInfo(const std::string& robotFile)
@@ -199,7 +185,7 @@ namespace armarx
     }
 
 
-    SharedRobotInterfacePrx RobotStateComponent::getSynchronizedRobot(const Current& current) const
+    SharedRobotInterfacePrx RobotStateComponent::getSynchronizedRobot(const Current&) const
     {
         if (!this->_synchronizedPrx)
         {
@@ -210,7 +196,7 @@ namespace armarx
     }
 
 
-    SharedRobotInterfacePrx RobotStateComponent::getRobotSnapshot(const std::string& time, const Current& current)
+    SharedRobotInterfacePrx RobotStateComponent::getRobotSnapshot(const std::string& time, const Current&)
     {
         if (!_synchronized)
         {
@@ -219,7 +205,7 @@ namespace armarx
 
         auto clone = this->_synchronized->clone(_synchronized->getName());
 
-        SharedRobotServantPtr p = new SharedRobotServant(clone, RobotStateComponentInterfacePrx::uncheckedCast(getProxy()), NULL);
+        SharedRobotServantPtr p = new SharedRobotServant(clone, RobotStateComponentInterfacePrx::uncheckedCast(getProxy()), nullptr);
         p->setTimestamp(IceUtil::Time::microSecondsDouble(_sharedRobotServant->getTimestamp()->timestamp));
         auto result = getObjectAdapter()->addWithUUID(p);
         // virtal robot clone is buggy -> set global pose here
@@ -227,7 +213,7 @@ namespace armarx
         return SharedRobotInterfacePrx::uncheckedCast(result);
     }
 
-    SharedRobotInterfacePrx RobotStateComponent::getRobotSnapshotAtTimestamp(double time, const Current& current)
+    SharedRobotInterfacePrx RobotStateComponent::getRobotSnapshotAtTimestamp(double time, const Current&)
     {
         if (!_synchronized)
         {
@@ -238,12 +224,13 @@ namespace armarx
         RobotStateConfig config;
         if (!interpolate(time, config))
         {
-            ARMARX_WARNING << "Could not find or interpolate a robot state for time " << IceUtil::Time::microSeconds(time).toDateTime();
-            return NULL;
+            ARMARX_WARNING << "Could not find or interpolate a robot state for time "
+                           << IceUtil::Time::microSeconds(static_cast<int>(time)).toDateTime();
+            return nullptr;
         }
 
         clone->setJointValues(config.jointMap);
-        SharedRobotServantPtr p = new SharedRobotServant(clone, RobotStateComponentInterfacePrx::uncheckedCast(getProxy()), NULL);
+        SharedRobotServantPtr p = new SharedRobotServant(clone, RobotStateComponentInterfacePrx::uncheckedCast(getProxy()), nullptr);
         p->setTimestamp(IceUtil::Time::microSecondsDouble(time));
         auto result = getObjectAdapter()->addWithUUID(p);
         // virtal robot clone is buggy -> set global pose here
@@ -414,23 +401,23 @@ namespace armarx
         return result;
     }
 
-    void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Current& c) {}
-    void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp, bool aValueChanged, const Current& c)
+    void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Current&) {}
+    void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp, bool aValueChanged, const Current&)
     {
         if (robotStateObs)
         {
             robotStateObs->updateNodeVelocities(jointVelocities, timestamp);
         }
     }
-    void RobotStateComponent::reportJointTorques(const NameValueMap& jointTorques, Ice::Long timestamp, bool aValueChanged, const Current& c) {}
+    void RobotStateComponent::reportJointTorques(const NameValueMap& jointTorques, Ice::Long timestamp, bool aValueChanged, const Current&) {}
 
-    void RobotStateComponent::reportJointAccelerations(const NameValueMap& jointAccelerations, Ice::Long timestamp, bool aValueChanged, const Current& c)
+    void RobotStateComponent::reportJointAccelerations(const NameValueMap& jointAccelerations, Ice::Long timestamp, bool aValueChanged, const Current&)
     {
 
     }
-    void RobotStateComponent::reportJointCurrents(const NameValueMap& jointCurrents, Ice::Long timestamp, bool aValueChanged, const Current& c) {}
-    void RobotStateComponent::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp, bool aValueChanged, const Current& c) {}
-    void RobotStateComponent::reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Current& c) {}
+    void RobotStateComponent::reportJointCurrents(const NameValueMap& jointCurrents, Ice::Long timestamp, bool aValueChanged, const Current&) {}
+    void RobotStateComponent::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp, bool aValueChanged, const Current&) {}
+    void RobotStateComponent::reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Current&) {}
 
     PropertyDefinitionsPtr RobotStateComponent::createPropertyDefinitions()
     {
@@ -469,4 +456,5 @@ namespace armarx
     {
         return robotStateTopicName;
     }
+
 }