diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index e20d9525d3c36676e47203a25a11d4e26eaf2968..88363b7242e9666883d22351adfb600735deb6f7 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -32,6 +32,7 @@
 #include <ArmarXCore/core/util/Registrar.h>
 #include <ArmarXCore/core/util/TripleBuffer.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/interface/core/ManagedIceObjectDefinitions.h>
 #include <ArmarXCore/core/services/tasks/ThreadPool.h>
 
 #include <ArmarXGui/interface/WidgetDescription.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
index 0d0aa5b7616f7e88412d70decd10fbd545327139..98fe0b961192861a9fa7df1029afc178cd4db1ce 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
@@ -154,7 +154,7 @@ namespace armarx
         }
     }
 
-    ControlThreadOutputBuffer::RtMessageLogEntryBase& ControlThreadOutputBuffer::RtMessageLogEntryBase::setLoggingLevel(MessageType lvl)
+    ControlThreadOutputBuffer::RtMessageLogEntryBase& ControlThreadOutputBuffer::RtMessageLogEntryBase::setLoggingLevel(MessageTypeT lvl)
     {
         printMsg = true;
         loggingLevel = lvl;
diff --git a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
index e6a3c820f4e15846171b914498a348beb36502b9..6412aaba778c5137020f43ae7e9efadf3e69c640 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
@@ -76,7 +76,7 @@ namespace armarx::detail
         {}
         virtual ~RtMessageLogEntryBase() = default;
 
-        RtMessageLogEntryBase& setLoggingLevel(MessageType lvl);
+        RtMessageLogEntryBase& setLoggingLevel(MessageTypeT lvl);
         RtMessageLogEntryBase& deactivateSpam(float sec);
         RtMessageLogEntryBase& deactivateSpamTag(std::uint64_t tag);
 
@@ -91,7 +91,7 @@ namespace armarx::detail
     protected:
         friend struct RtMessageLogBuffer;
     private:
-        MessageType loggingLevel {eUNDEFINED};
+        MessageTypeT loggingLevel {MessageTypeT::UNDEFINED};
         float deactivateSpamSec {0};
         bool printMsg {false};
         std::uint64_t deactivateSpamTag_;
@@ -307,14 +307,14 @@ namespace armarx
            ->addMessageToLog<RtMessageLogEntry>(__VA_ARGS__);                                   \
            }())
 
-#define ARMARX_RT_LOGF_DEBUG(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::eDEBUG)
-#define ARMARX_RT_LOGF_VERBOSE(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::eVERBOSE)
-#define ARMARX_RT_LOGF_INFO(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::eINFO)
-#define ARMARX_RT_LOGF_IMPORTANT(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::eIMPORTANT)
-#define ARMARX_RT_LOGF_WARNING(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::eWARN)
-#define ARMARX_RT_LOGF_WARN(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::eWARN)
-#define ARMARX_RT_LOGF_ERROR(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::eERROR)
-#define ARMARX_RT_LOGF_FATAL(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::eFATAL)
+#define ARMARX_RT_LOGF_DEBUG(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::MessageTypeT::DEBUG)
+#define ARMARX_RT_LOGF_VERBOSE(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::MessageTypeT::VERBOSE)
+#define ARMARX_RT_LOGF_INFO(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::MessageTypeT::INFO)
+#define ARMARX_RT_LOGF_IMPORTANT(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::MessageTypeT::IMPORTANT)
+#define ARMARX_RT_LOGF_WARNING(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::MessageTypeT::WARN)
+#define ARMARX_RT_LOGF_WARN(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::MessageTypeT::WARN)
+#define ARMARX_RT_LOGF_ERROR(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::MessageTypeT::ERROR)
+#define ARMARX_RT_LOGF_FATAL(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::MessageTypeT::FATAL)
 
 //impl
 namespace armarx::detail