diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index ba82af5211725474f0199eba9a70ba10a8cd9aec..735aae1176215b9940b73afe01d5dcece4cfb363 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -864,15 +864,18 @@ namespace armarx
     {
         detail::RobotStateComponentWorker::Job j;
         j.type = detail::RobotStateComponentWorker::Job::JobType::reportPlatformPose;
-        j.currentPose = currentPose;
+        j.currentPose = platformPose;
         _worker->addJob(std::move(j));
     }
 
 
     void RobotStateComponent::reportNewTargetPose(const PoseStamped&, const Current&)
-    void RobotStateComponent::setRobotStateObserver(RobotStateObserverPtr observer)
     {
         // Unused.
+    }
+
+    void RobotStateComponent::setRobotStateObserver(RobotStateObserverPtr observer)
+    {
         ARMARX_CHECK_EXPRESSION(_worker);
         _worker->robotStateObs = observer;
     }