diff --git a/GeometricPlanning/ArticulatedObjectDoorHelper.cpp b/GeometricPlanning/ArticulatedObjectDoorHelper.cpp
index 1fe8bae85e43f78cba07568b000b546d5ad360b0..87fd89839788dafb76c3d3bedd2ffa1ed2ac8e85 100644
--- a/GeometricPlanning/ArticulatedObjectDoorHelper.cpp
+++ b/GeometricPlanning/ArticulatedObjectDoorHelper.cpp
@@ -26,7 +26,7 @@ namespace simox::geometric_planning
         const std::string handleNodeName = nodeSetName + constants::HandleSuffix;
         const std::string surfaceProjectionNodeName = nodeSetName + constants::SurfaceSuffix;
 
-        const auto checkNodeExists = [&rns, &nodeSetName](const std::string& nodeName)
+        const auto checkNodeExists = [&rns, &nodeSetName]([[maybe_unused]] const std::string& nodeName)
         {
             REQUIRE_MESSAGE(rns->hasRobotNode(nodeName),
                             "Robot node `" << nodeName + "` does not exist within robot node set `"
diff --git a/GeometricPlanning/ArticulatedObjectGeometricPlanningHelper.cpp b/GeometricPlanning/ArticulatedObjectGeometricPlanningHelper.cpp
index 2179e10a3ca2af214565d0c9ec61ee622d2222b8..601c16348b897e454382a5ab833c5d0f3101827b 100644
--- a/GeometricPlanning/ArticulatedObjectGeometricPlanningHelper.cpp
+++ b/GeometricPlanning/ArticulatedObjectGeometricPlanningHelper.cpp
@@ -65,7 +65,7 @@ namespace simox::geometric_planning
         };
 
         // validate assumption
-        const auto numberMovableParentJoints =
+        [[maybe_unused]] const auto numberMovableParentJoints =
             std::accumulate(parents.begin(),
                             parents.end(),
                             0,
diff --git a/GeometricPlanning/path_primitives/Circle.cpp b/GeometricPlanning/path_primitives/Circle.cpp
index 3d41c174b5b546dee1516415966046d6b96e6188..5a2a7620974f30c09f4297db31228c55d71ebe87 100644
--- a/GeometricPlanning/path_primitives/Circle.cpp
+++ b/GeometricPlanning/path_primitives/Circle.cpp
@@ -29,7 +29,7 @@ namespace simox::geometric_planning
     }
 
     Eigen::Vector3f
-    Circle::getPositionDerivative(float t) const
+    Circle::getPositionDerivative([[maybe_unused]] float t) const
     {
         REQUIRE(parameterRange().isInRange(t));
 
diff --git a/GeometricPlanning/path_primitives/Line.cpp b/GeometricPlanning/path_primitives/Line.cpp
index d9f50e1576f52648c6a7408d39a1d274d5d39c4f..90cf2a5235fb1df3a2055dbd1f8fc31f68b6c7ee 100644
--- a/GeometricPlanning/path_primitives/Line.cpp
+++ b/GeometricPlanning/path_primitives/Line.cpp
@@ -26,7 +26,7 @@ namespace simox::geometric_planning
     }
 
     Eigen::Vector3f
-    Line::getPositionDerivative(float t) const
+    Line::getPositionDerivative([[maybe_unused]] float t) const
     {
         REQUIRE(parameterRange().isInRange(t));