diff --git a/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg b/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg
index 57a92b84c82797807a38c8635dbe1fb7d3d3d43d..33ff12f5046dad45169c1661741ff7216055c26d 100644
--- a/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg
+++ b/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg
@@ -151,22 +151,6 @@
 # ArmarX.SkillsMemory.ObjectName = ""
 
 
-# ArmarX.SkillsMemory.StatechartCoreSegmentName:  Name of the core segment for statecharts.
-#  Attributes:
-#  - Default:            Statechart
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.SkillsMemory.StatechartCoreSegmentName = Statechart
-
-
-# ArmarX.SkillsMemory.TransitionsProviderSegmentName:  Name of the provider segment for statechart transitions.
-#  Attributes:
-#  - Default:            Transitions
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.SkillsMemory.TransitionsProviderSegmentName = Transitions
-
-
 # ArmarX.SkillsMemory.mem.MemoryName:  Name of this memory server.
 #  Attributes:
 #  - Default:            Skills
diff --git a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
index 5dd287cbbe854bad01b8c0e321c06a664b8d13d4..8fdadffeb177990068d890b26551b88d5712cc6f 100644
--- a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
+++ b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
@@ -54,7 +54,7 @@ namespace armarx
                         if (scanTopic)
                         {
                             TimestampVariantPtr scanT(new TimestampVariant(scanTime));
-                            scanTopic->reportSensorValues(scannerName, "LaserScanData", scanData, scanT);
+                            scanTopic->reportSensorValues(scannerName, scannerName, scanData, scanT);
                             //trigger heartbeat
                             scannerHeartbeat->heartbeat(scannerName);
                         }
@@ -81,12 +81,12 @@ namespace armarx
 
     void SickLaserScanDevice::initScanner()
     {
-        ARMARX_INFO_S << "Start initialising scanner [Ip: " << this->ip
-                      << "] [Port: " << this->port << "]";
+        ARMARX_INFO_S << "Start initialising scanner " << scannerName
+                      << " [Ip: " << this->ip << "] [Port: " << this->port << "]";
         // attempt to connect/reconnect
         if (this->scanner)
         {
-            ARMARX_WARNING_S << "Scanner already initized.";
+            ARMARX_WARNING_S << "Scanner already initialized - reinit.";
             this->scanner.reset(); // disconnect scanner
         }
         this->scanner = std::make_unique<SickScanAdapter>(this->ip, this->port, this->timelimit, this->parser.get(), 'A');
@@ -104,7 +104,6 @@ namespace armarx
         }
         else
         {
-            ARMARX_INFO_S << "Reinitializing scanner.";
             this->runState = RunState::scannerInit; // If there was an error, try to restart scanner
         }
     }