diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
index 503c8589ec95a34d0e27d2798ecf950f59d79ef8..4784feb5614234a69becf0be6c2f87d2ae8e76a2 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -2317,6 +2317,11 @@ namespace armarx
             removeCylinderVisu(layerName, i.first);
         }
 
+        for (const auto& i : layer.addedCircleVisualizations)
+        {
+            removeCircleVisu(layerName, i.first);
+        }
+
         for (const auto& i : layer.addedPointCloudVisualizations)
         {
             removePointCloudVisu(layerName, i.first);
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
index cd2d8579c9a3f4fc7f9a8de8605ba6e5aea8df8c..d3ac754fc05faa9b149bad4045ef30f487f5b7f5 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
@@ -214,10 +214,10 @@ namespace armarx
         void removeArrowVisu(const std::string& layerName, const std::string& arrowName, const ::Ice::Current& = ::Ice::Current()) override;
         void removeArrowDebugLayerVisu(const std::string& arrowName, const ::Ice::Current& = ::Ice::Current()) override;
 
-        void setCircleArrowVisu(const std::string& layerName, const std::string& circleName, const Vector3BasePtr& globalPosition, const Vector3BasePtr& directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor& color, const Ice::Current&) override;
-        void setCircleDebugLayerVisu(const std::string& circleName, const Vector3BasePtr& globalPosition, const Vector3BasePtr& directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor& color, const Ice::Current&) override;
-        void removeCircleVisu(const std::string& layerName, const std::string& circleName, const Ice::Current&) override;
-        void removeCircleDebugLayerVisu(const std::string& circleName, const Ice::Current&) override;
+        void setCircleArrowVisu(const std::string& layerName, const std::string& circleName, const Vector3BasePtr& globalPosition, const Vector3BasePtr& directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor& color, const Ice::Current&  = ::Ice::Current()) override;
+        void setCircleDebugLayerVisu(const std::string& circleName, const Vector3BasePtr& globalPosition, const Vector3BasePtr& directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor& color, const Ice::Current& = ::Ice::Current()) override;
+        void removeCircleVisu(const std::string& layerName, const std::string& circleName, const Ice::Current& = ::Ice::Current()) override;
+        void removeCircleDebugLayerVisu(const std::string& circleName, const Ice::Current& = ::Ice::Current()) override;
 
 
         /*!