diff --git a/ros/src/computing/planning/motion/packages/driving_planner/nodes/lattice_trajectory_gen/lattice_trajectory_gen.cpp b/ros/src/computing/planning/motion/packages/driving_planner/nodes/lattice_trajectory_gen/lattice_trajectory_gen.cpp
index ba76095cf7b..4e5cbcd9f42 100644
--- a/ros/src/computing/planning/motion/packages/driving_planner/nodes/lattice_trajectory_gen/lattice_trajectory_gen.cpp
+++ b/ros/src/computing/planning/motion/packages/driving_planner/nodes/lattice_trajectory_gen/lattice_trajectory_gen.cpp
@@ -396,32 +396,6 @@ static void displayNextWaypoint(int i)
   _vis_pub.publish(marker);
 }
 
-/////////////////////////////////////////////////////////////////
-// obtain the linear/angular velocity toward the next waypoint.
-/////////////////////////////////////////////////////////////////
-static geometry_msgs::Twist calcTwist(int next_waypoint)
-{
-  //std::cout << "calculate" << std::endl;
-  geometry_msgs::Twist twist;
-
-  double radius = _path_pp.calcRadius(next_waypoint);
-  twist.linear.x = _path_pp.getCmdVelocity();
-
-  double current_velocity = _current_velocity;
-
-  if (radius > 0 || radius < 0)
-  {
-    twist.angular.z = current_velocity / radius;
-  }
-  else
-  {
-    twist.angular.z = 0;
-  }
-  return twist;
-}
-
-
-
 /////////////////////////////////////////////////////////////////
 // Safely stop the vehicle.
 /////////////////////////////////////////////////////////////////
diff --git a/ros/src/computing/planning/motion/packages/driving_planner/nodes/lattice_twist_convert/lattice_twist_convert.cpp b/ros/src/computing/planning/motion/packages/driving_planner/nodes/lattice_twist_convert/lattice_twist_convert.cpp
index 845c36d96a9..2d1ceb55cc5 100644
--- a/ros/src/computing/planning/motion/packages/driving_planner/nodes/lattice_twist_convert/lattice_twist_convert.cpp
+++ b/ros/src/computing/planning/motion/packages/driving_planner/nodes/lattice_twist_convert/lattice_twist_convert.cpp
@@ -209,7 +209,6 @@ void splineCallback(const std_msgs::Float64MultiArray::ConstPtr& spline)
     }
 
     // Reset elapsed time to 0, if called...
-    double start_time = ros::Time::now().toSec();
     int i = 0;
 
     for(std::vector<double>::const_iterator it = spline->data.begin(); it != spline->data.end(); ++it)
diff --git a/ros/src/data/packages/map_db/CMakeLists.txt b/ros/src/data/packages/map_db/CMakeLists.txt
index 392cf10283b..2fc6a8a45b9 100644
--- a/ros/src/data/packages/map_db/CMakeLists.txt
+++ b/ros/src/data/packages/map_db/CMakeLists.txt
@@ -10,7 +10,7 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
 )
 
-set(CMAKE_CXX_FLAGS "-std=c++0x -O2 -Wall ${CMAKE_CXX_FLAGS}")
+set(CMAKE_CXX_FLAGS "-std=c++0x -O2 -Wall -Wno-unused-result ${CMAKE_CXX_FLAGS}")
 
 add_message_files(
   FILES
diff --git a/ros/src/data/packages/map_db/lib/map_db/GetFile.cpp b/ros/src/data/packages/map_db/lib/map_db/GetFile.cpp
index 6bd73f5b3c1..fe05731a2b3 100644
--- a/ros/src/data/packages/map_db/lib/map_db/GetFile.cpp
+++ b/ros/src/data/packages/map_db/lib/map_db/GetFile.cpp
@@ -61,7 +61,6 @@ GetFile::GetFile(const std::string& host_name, int port)
 
 int GetFile::ConnectHTTP()
 {
-	int r;
 	unsigned int **addrptr;
 
 #if 0
@@ -167,7 +166,6 @@ int GetFile::GetHTTPFile(const std::string& value)
 	snprintf(send_buf, sizeof(send_buf), "\r\n");
 	write(sock, send_buf, strlen(send_buf));
 
-	int r_head = 1;
 	while(1) {
 		n = read(sock, recvdata, sizeof(recvdata)-1);
 		if (n < 0) {
@@ -189,7 +187,7 @@ int GetFile::GetHTTPFile(const std::string& value)
 
 	std::istringstream ss(res);
 	std::string tbuf;
-	for(int i; i < 10; i++) {
+	for(int i = 0; i < 10; i++) {
 		std::getline(ss, tbuf);	// ignore http header
 		if(tbuf.size() <= 1) break;
 	}