diff --git a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
index 36713d9ad74c379c9ee248f1aac33964fdb4e913..2fe103188303b62c10e5cf8cd9e9036919e316eb 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
@@ -164,7 +164,7 @@ void RobotStateObserver::udpatePoseDatafields(const FramedPoseBaseMap& poseMap)
 
 DatafieldRefBasePtr RobotStateObserver::getPoseDatafield(const std::string& nodeName, const Ice::Current&) const
 {
-    return getDataFieldRef(new DataFieldIdentifier(getName(), TCP_POSE_CHANNEL, nodeName));
+    return getDatafieldRefByName(TCP_POSE_CHANNEL, nodeName);
 }
 
 void RobotStateObserver::updateNodeVelocities(const NameValueMap& jointVel)
@@ -333,7 +333,7 @@ void RobotStateObserver::setRobot(RobotPtr robot)
         {
             auto nodesets = robot->getRobotNodeSets();
 
-            for (RobotNodeSetPtr& set : nodesets)
+            for (RobotNodeSetPtr & set : nodesets)
             {
                 if (set->getTCP())
                 {