diff --git a/CMakeLists.txt b/CMakeLists.txt
index b0f781dd0b58f0abd093f5baf95c7fb92fd8e053..ac768edf69c868cb50b74a38b6a9c37ce3cb3e30 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -150,7 +150,7 @@ pkg_config_use_dependency(interpreter dynamic_graph_bridge_msgs)
 # Stand alone embedded intepreter with a robot controller.
 add_executable(geometric_simu src/geometric_simu.cpp src/sot_loader.cpp)
 pkg_config_use_dependency(geometric_simu roscpp)
-target_link_libraries(geometric_simu  ${Boost_LIBRARIES} dl)
+target_link_libraries(geometric_simu  ros_bridge ${Boost_LIBRARIES} dl)
 
 add_subdirectory(src)
 
diff --git a/include/dynamic_graph_bridge/ros_interpreter.hh b/include/dynamic_graph_bridge/ros_interpreter.hh
index df1047a7694f6d3e1caf0645114989f604180d43..1c8dec197ac5b0b097288984a0d50416d2d598a1 100644
--- a/include/dynamic_graph_bridge/ros_interpreter.hh
+++ b/include/dynamic_graph_bridge/ros_interpreter.hh
@@ -28,8 +28,6 @@ namespace dynamicgraph
 
     explicit Interpreter (ros::NodeHandle& nodeHandle);
 
-    /// \brief Run a command and return result.
-    std::string runCommand (const std::string& command) __attribute__ ((deprecated));
     /// \brief Method to start python interpreter and deal with messages.
     /// \param Command string to execute, result, stdout, stderr strings.
     void runCommand(const std::string & command, std::string &result,
diff --git a/src/robot_model.cpp b/src/robot_model.cpp
index f27cdf6fb973fcc206b86e228d08683398992f5a..44911ea9dc86b927ce84361ffdbd8ba16afa8047 100644
--- a/src/robot_model.cpp
+++ b/src/robot_model.cpp
@@ -112,7 +112,7 @@ vectorN convertVector(const ml::Vector& v)
 ml::Vector convertVector(const vectorN& v)
 {
     ml::Vector res;
-    res.resize(v.size());
+    res.resize((unsigned int)v.size());
     for (unsigned i = 0; i < v.size(); ++i)
         res(i) = v[i];
     return res;
diff --git a/src/ros_interpreter.cpp b/src/ros_interpreter.cpp
index e4f572f91e733838835ec64a20d5ce0c3f028471..c4d58fdbbde380f9461da89f85fb47c1ff78ad10 100644
--- a/src/ros_interpreter.cpp
+++ b/src/ros_interpreter.cpp
@@ -43,13 +43,6 @@ namespace dynamicgraph
     return true;
   }
 
-  std::string
-  Interpreter::runCommand
-  (const std::string& command)
-  {
-    return interpreter_.python(command);
-  }
-
   void Interpreter::runCommand
   (const std::string & command, 
    std::string &result,
diff --git a/src/sot_loader.cpp b/src/sot_loader.cpp
index 375977ab48cc506e08269647a8ca03cea5625ee8..d3470647a21b7d87968c2b47cd2b07b08d08a86b 100644
--- a/src/sot_loader.cpp
+++ b/src/sot_loader.cpp
@@ -176,8 +176,10 @@ void SotLoader::Initialization()
   
   // Load the symbols.
   createSotExternalInterface_t * createSot =
-    (createSotExternalInterface_t *) dlsym(SotRobotControllerLibrary, 
-                          "createSotExternalInterface");
+    reinterpret_cast<createSotExternalInterface_t *> 
+    (reinterpret_cast<long> 
+     (dlsym(SotRobotControllerLibrary, 
+	    "createSotExternalInterface")));
   const char* dlsym_error = dlerror();
   if (dlsym_error) {
     std::cerr << "Cannot load symbol create: " << dlsym_error << '\n';
@@ -256,15 +258,15 @@ void SotLoader::oneIteration()
 }
 
 
-bool SotLoader::start_dg(std_srvs::Empty::Request& request, 
-                         std_srvs::Empty::Response& response)
+bool SotLoader::start_dg(std_srvs::Empty::Request& , 
+                         std_srvs::Empty::Response& )
 {
   dynamic_graph_stopped_=false;    
   return true;
 }
 
-bool SotLoader::stop_dg(std_srvs::Empty::Request& request, 
-                         std_srvs::Empty::Response& response)
+bool SotLoader::stop_dg(std_srvs::Empty::Request& , 
+                         std_srvs::Empty::Response& )
 {
   dynamic_graph_stopped_ = true;
   return true;
diff --git a/src/sot_loader.hh b/src/sot_loader.hh
index 2d02679d1f2862bcd4c5e0bde971a3375215b3a2..64d5ed33cc8fb9c19cb368a6581f422ab32369ec 100644
--- a/src/sot_loader.hh
+++ b/src/sot_loader.hh
@@ -85,7 +85,8 @@ protected:
   XmlRpc::XmlRpcValue stateVectorMap_;
 
   /// \brief List of parallel joints from the state vector.
-  std::vector<int> parallel_joints_to_state_vector_;
+  typedef std::vector<int> parallel_joints_to_state_vector_t;
+  parallel_joints_to_state_vector_t parallel_joints_to_state_vector_;
 
   /// \brief Coefficient between parallel joints and the state vector.
   std::vector<double> coefficient_parallel_joints_;
@@ -98,7 +99,7 @@ protected:
 
   // Number of DOFs according to KDL.
   int nbOfJoints_;
-  int nbOfParallelJoints_;
+  parallel_joints_to_state_vector_t::size_type nbOfParallelJoints_;
 
 
 public: