diff --git a/nav2_motion_primitives/include/nav2_motion_primitives/motion_primitive.hpp b/nav2_motion_primitives/include/nav2_motion_primitives/motion_primitive.hpp
index 668f5d14327b8c14c36cd79bae022772010259db..3a84a9d4161b1dbcc8b74933c28a7e15e3181b59 100644
--- a/nav2_motion_primitives/include/nav2_motion_primitives/motion_primitive.hpp
+++ b/nav2_motion_primitives/include/nav2_motion_primitives/motion_primitive.hpp
@@ -144,6 +144,9 @@ protected:
           RCLCPP_WARN(node_->get_logger(), "%s failed", primitive_name_.c_str());
           goal_handle->abort(result);
           return;
+
+        default:
+          break;
       }
 
       loop_rate.sleep();
diff --git a/nav2_motion_primitives/src/main.cpp b/nav2_motion_primitives/src/main.cpp
index b44a5e4179184947610f566c38c210a3910c8cb2..32aefdead8e1eee8ac821ad36e27d24ad20f1d71 100644
--- a/nav2_motion_primitives/src/main.cpp
+++ b/nav2_motion_primitives/src/main.cpp
@@ -13,15 +13,13 @@
 // limitations under the License. Reserved.
 
 #include <memory>
+
 #include "rclcpp/rclcpp.hpp"
-#include "nav2_motion_primitives/spin.hpp"
 #include "nav2_motion_primitives/back_up.hpp"
+#include "nav2_motion_primitives/spin.hpp"
 
 int main(int argc, char ** argv)
 {
-  // Force flush of the stdout buffer.
-  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
-
   rclcpp::init(argc, argv);
 
   auto motion_primitives_node = rclcpp::Node::make_shared("motion_primitives");