diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
index ca8dd3132aac84242e4998772ecae059b3b36639..e2b91b03181edc9ce708bb10a985166ccfcd7671 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
@@ -169,7 +169,7 @@ void NJointTaskSpaceImpedanceController::rtRun(const IceUtil::Time& sensorValues
 
     Eigen::VectorXf nullqerror = desiredJointPosition - qpos;
 
-    ARMARX_CHECK_EQUAL(nullqerror.rows(), targets.size());
+    ARMARX_CHECK_EQUAL(static_cast<std::size_t>(nullqerror.rows()), targets.size());
 
     for (int i = 0; i < nullqerror.rows(); ++i)
     {
@@ -181,7 +181,7 @@ void NJointTaskSpaceImpedanceController::rtRun(const IceUtil::Time& sensorValues
     Eigen::VectorXf nullspaceTorque = knull * nullqerror - dnull * qvel;
 
     Eigen::VectorXf jointDesiredTorques = jacobi.transpose() * tcpDesiredWrench + (I - jacobi.transpose() * jtpinv) * nullspaceTorque;
-    ARMARX_CHECK_EQUAL(jointDesiredTorques.rows(), targets.size());
+    ARMARX_CHECK_EQUAL(static_cast<std::size_t>(jointDesiredTorques.rows()), targets.size());
 
     for (size_t i = 0; i < targets.size(); ++i)
     {
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 0c58da7987b6cc32e8cb1a191db870555f123206..5263f02f8bc2439f9454aefc2b6cabdda3173770 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -1553,7 +1553,7 @@ void RangeValueDelegate::paint(QPainter* painter, const QStyleOptionViewItem& op
             return;
         }
 
-        QStyleOptionProgressBarV2 progressBarOption;
+        QStyleOptionProgressBar progressBarOption;
         progressBarOption.rect = option.rect;
         progressBarOption.minimum = loDeg;
         progressBarOption.maximum = hiDeg;
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
index 1962d93aa223dd82532ad70b72d623b8929a070c..be0bdbabf0a1dfed3bf89157e3619ef6c147907d 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
@@ -614,7 +614,7 @@ void EtherCAT::closeBus()
     //shutdown the slaves if the bus hasn't died
     if (!isBusDead && !error)
     {
-        auto startCycle = std::chrono::high_resolution_clock::now();
+        //        auto startCycle = std::chrono::high_resolution_clock::now();
         bool found;
         do
         {
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
index dc0df5546a86cdf08ea4df84bac504479e2b919b..752801e20b99e8d79ee6ea8bca4577da791f2ce7 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
@@ -608,7 +608,7 @@ void EtherCATRTUnit::controlLoopRTThread()
         ARMARX_FATAL << "exception in control thread!"
                      << "\nwhat:\n" << e.what()
                      << "\nreason:\n" << e.reason
-                     << "\n\tname: " << e.ice_name()
+                     << "\n\tname: " << e.ice_id()
                      << "\n\tfile: " << e.ice_file()
                      << "\n\tline: " << e.ice_line()
                      << "\n\tstack: " << e.ice_stackTrace()
@@ -619,7 +619,7 @@ void EtherCATRTUnit::controlLoopRTThread()
     {
         ARMARX_FATAL << "exception in control thread!\nwhat:\n"
                      << e.what()
-                     << "\n\tname: " << e.ice_name()
+                     << "\n\tname: " << e.ice_id()
                      << "\n\tfile: " << e.ice_file()
                      << "\n\tline: " << e.ice_line()
                      << "\n\tstack: " << e.ice_stackTrace()
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
index c15f0ae31c872f1c568d04427fcf9e7a53b532e0..c0d0f4c5011b1c5432a22f59f06700cb4d9b6d77 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
@@ -328,8 +328,8 @@ namespace armarx
         Eigen::Matrix4f leftTargetPose;
         Eigen::Matrix4f rightTargetPose;
 
-        float leftKratio = 1.0;
-        float rightKratio = 1.0;
+        //        float leftKratio = 1.0;
+        //        float rightKratio = 1.0;
 
         if (leaderName == "Left")
         {
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
index ee30c07a9ce7da07abdcb52adc9d4b20d4c8df06..0862c5f8b984d022575bc309ad533ba30e47d0c5 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
@@ -189,14 +189,14 @@ namespace armarx
             double timeDuration = timeDurations[i];
             std::string dmpType = dmpTypes[i];
 
-            double amplitude = 1.0;
+            //double amplitude = 1.0;
             if (dmpType == "Periodic")
             {
                 if (canVals[i] <= 1e-8)
                 {
                     canVals[i] = timeDuration;
                 }
-                amplitude = amplitudes[i];
+                //amplitude = amplitudes[i];
             }
 
             if (canVals[i] > 1e-8)