diff --git a/src/ros_actor_action_server/src/Server.cpp b/src/ros_actor_action_server/src/Server.cpp
index 07a76ba..9bf53e5 100644
--- a/src/ros_actor_action_server/src/Server.cpp
+++ b/src/ros_actor_action_server/src/Server.cpp
@@ -4,13 +4,12 @@
 
 #include "Server.hpp"
 
-#include <mqueue.h>
-
-#include <cstdio>
-#include <rclcpp/logger.hpp>
 
 using namespace ros_actor_message_queue_msgs;
 
+static const char* feedbackName;
+static const char* actionName;
+
 void sendAction(mqd_t queue, ActionMessage *message) { 
     std::cout << "Sending action..." << std::endl;
     mq_send(queue, (const char *)message, sizeof(ActionMessage), 0); 
@@ -86,7 +85,7 @@ int main(int argc, char **argv) {
                     currentAnimationGoalPtr->publish_feedback(feedback);
                 }else{
                     currentAnimationGoalPtr->succeed(std::make_shared<ros_actor_action_server_msgs::action::Animation_Result>());
-                    currentAnimationGoalPtr == nullptr;
+                    currentAnimationGoalPtr = nullptr;
                 }
             }
             if(currentAction.state==MOVEMENT && currentMovementGoalPtr!=nullptr){
@@ -96,7 +95,7 @@ int main(int argc, char **argv) {
                     currentMovementGoalPtr->publish_feedback(feedback);
                 }else{
                     currentMovementGoalPtr->succeed(std::make_shared<ros_actor_action_server_msgs::action::Movement_Result>());
-                    currentMovementGoalPtr == nullptr;
+                    currentMovementGoalPtr = nullptr;
                 }
             }
             currentFeedback = newFeedback;
@@ -106,7 +105,7 @@ int main(int argc, char **argv) {
 
     auto animationServer = rclcpp_action::create_server<action::Animation>(
         node, "animation",
-        [&currentAction, &mutex](const rclcpp_action::GoalUUID goalUuid, const AnimationGoalPtr &animationGoal) {
+        [&currentAction, &mutex](__attribute__((unused)) const rclcpp_action::GoalUUID goalUuid, const AnimationGoalPtr &animationGoal) {
             // igndbg << "goal" << shared_mmap->currentState << std::endl;
             mutex.lock();
 
@@ -121,7 +120,7 @@ int main(int argc, char **argv) {
                 return rclcpp_action::GoalResponse::REJECT;
             }
         },
-        [actionQueue, &currentAction, &mutex](const AnimationServerGoalPtr &animationGoalPtr) {
+        [actionQueue, &currentAction, &mutex](__attribute__((unused)) const AnimationServerGoalPtr &animationGoalPtr) {
             if (currentAction.state == IDLE) {
                 return rclcpp_action::CancelResponse::REJECT;
             } else {
@@ -145,7 +144,7 @@ int main(int argc, char **argv) {
 
     auto movementServer = rclcpp_action::create_server<action::Movement>(
         node, "movement",
-        [&currentAction, &mutex](const rclcpp_action::GoalUUID goalUuid, const MovementGoalPtr &movementGoal) {
+        [&currentAction, &mutex](__attribute__((unused)) const rclcpp_action::GoalUUID goalUuid, const MovementGoalPtr &movementGoal) {
             mutex.lock();
             if (currentAction.state == IDLE) {
                 std::cout << "Accepting..." << std::endl;
@@ -160,7 +159,7 @@ int main(int argc, char **argv) {
                 return rclcpp_action::GoalResponse::REJECT;
             }
         },
-        [actionQueue, &currentAction, &mutex](const MovementServerGoalPtr &movementGoalPtr) {
+        [actionQueue, &currentAction, &mutex](__attribute__((unused)) const MovementServerGoalPtr &movementGoalPtr) {
             if (currentAction.state == IDLE) {
                 return rclcpp_action::CancelResponse::REJECT;
             } else {
@@ -184,4 +183,6 @@ int main(int argc, char **argv) {
     while(rclcpp::ok()){
         rclcpp::spin(node);
     }
+    
+    
 }
\ No newline at end of file
diff --git a/src/ros_actor_action_server/src/Server.hpp b/src/ros_actor_action_server/src/Server.hpp
index 4f8295b..969fe34 100644
--- a/src/ros_actor_action_server/src/Server.hpp
+++ b/src/ros_actor_action_server/src/Server.hpp
@@ -5,7 +5,10 @@
 #ifndef BUILD_SERVER_H
 #define BUILD_SERVER_H
 
+#include <cstdio>
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/utilities.hpp>
+#include <rclcpp/logger.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
 #include <ros_actor_action_server_msgs/action/animation.hpp>
 #include <ros_actor_action_server_msgs/action/movement.hpp>
@@ -15,18 +18,14 @@
 #include <mqueue.h>
 
 using namespace ros_actor_action_server_msgs;
-using rclcpp_action::ServerGoalHandle;
-
-static char *feedbackName;
-static char *actionName;
 
 #define AnimationActionServer rclcpp_action::Server<action::Animation>
 #define MovementActionServer rclcpp_action::Server<action::Movement>
 
 #define AnimationGoalPtr std::shared_ptr<const action::Animation::Goal>
-#define AnimationServerGoalPtr std::shared_ptr<ServerGoalHandle<action::Animation>>
+#define AnimationServerGoalPtr std::shared_ptr<rclcpp_action::ServerGoalHandle<action::Animation>>
 
 #define MovementGoalPtr std::shared_ptr<const action::Movement::Goal>
-#define MovementServerGoalPtr std::shared_ptr<ServerGoalHandle<action::Movement>>
+#define MovementServerGoalPtr std::shared_ptr<rclcpp_action::ServerGoalHandle<action::Movement>>
 
 #endif //BUILD_SERVER_H