diff --git a/crosbot_explore/src/explorer.cpp b/crosbot_explore/src/explorer.cpp
index 2d58e5da8dad930f69cfb9013a2af92745ac46ab..78833c4538cb900b0472a776299e18eb0cdecbde 100644
--- a/crosbot_explore/src/explorer.cpp
+++ b/crosbot_explore/src/explorer.cpp
@@ -8,6 +8,8 @@
 #include <crosbot_explore/explorer.hpp>
 #include <crosbot/utils.hpp>
 
+#include <unistd.h>
+
 namespace crosbot {
 
 #define DEFAULT_SLEEP_TIME		50000
diff --git a/crosbot_fastslam/include/crosbot_fastslam/serialization.hpp b/crosbot_fastslam/include/crosbot_fastslam/serialization.hpp
index 32e15435d1f2f63533b9cff83d3b5eafed424969..a4b2b3f6f3ed591b780d196b9c9abe49288e6886 100644
--- a/crosbot_fastslam/include/crosbot_fastslam/serialization.hpp
+++ b/crosbot_fastslam/include/crosbot_fastslam/serialization.hpp
@@ -167,7 +167,7 @@ public:
 		uint32_t nonNulls = 0;
 		rval += serUInt32.read(nonNulls, stream);
 
-		for (uint32_t i = 0; i < nonNulls; i++) {
+		for (uint32_t n = 0; n < nonNulls; n++) {
 			uint32_t i, j;
 			rval += serUInt32.read(i, stream);
 			rval += serUInt32.read(j, stream);
diff --git a/crosbot_fastslam/src/fastslam.cpp b/crosbot_fastslam/src/fastslam.cpp
index 840fd63f2604e3e37f424c404810b4e183761d57..0874e55da6236c4b6d65eafc0fa40558720bee5d 100644
--- a/crosbot_fastslam/src/fastslam.cpp
+++ b/crosbot_fastslam/src/fastslam.cpp
@@ -78,7 +78,7 @@ void FastSLAMMap::configure(ConfigElementPtr config) {
 		parameters.searchPose = searchConfig->getParamAsPose("pose", parameters.searchPose);
 	}
 
-	parameters.addMotionCopy = searchConfig->getParamAsBool("add_motion_copy", parameters.addMotionCopy);
+	parameters.addMotionCopy = config->getParamAsBool("add_motion_copy", parameters.addMotionCopy);
 }
 
 void FastSLAMMap::start() {
diff --git a/crosbot_ui/src/joystick.cpp b/crosbot_ui/src/joystick.cpp
index 581caa99930439b0893fadf3f5f94f467b745bec..f90e41ffbfe688c71d2f605886e09ae0553cc3fe 100644
--- a/crosbot_ui/src/joystick.cpp
+++ b/crosbot_ui/src/joystick.cpp
@@ -11,6 +11,8 @@
 #include <linux/joystick.h>
 #include <fcntl.h>
 #include <sys/ioctl.h>
+#include <unistd.h>
+#include <stdio.h>
 
 namespace crosbot {