diff --git a/darwin_controller/CMakeLists.txt b/darwin_controller/CMakeLists.txt
index 3b96092b04d89279797b9a31d98027899c37a7a9..be33c40c68fdb84b26037da20eeff03aa60ab770 100644
--- a/darwin_controller/CMakeLists.txt
+++ b/darwin_controller/CMakeLists.txt
@@ -119,6 +119,7 @@ add_library(${PROJECT_NAME} src/darwin_controller.cpp
                             ${DARWIN_FW_PATH}/src/joint_motion.c
                             ${DARWIN_FW_PATH}/src/head_tracking.c
                             ${DARWIN_FW_PATH}/src/motion_manager.c
+                            ${DARWIN_FW_PATH}/src/smart_charger.c
                             ${DARWIN_FW_PATH}/src/grippers.c
                             src/sim/stm32_hal.c
                             src/sim/stm32_cortex.c
diff --git a/darwin_odometry/include/darwin_odometry_alg.h b/darwin_odometry/include/darwin_odometry_alg.h
index 092b0c1d50d78dc021e3aa64be874eaba0637b04..870b0176029bc55f315e2815b175bd94b67974dd 100644
--- a/darwin_odometry/include/darwin_odometry_alg.h
+++ b/darwin_odometry/include/darwin_odometry_alg.h
@@ -61,6 +61,7 @@ class DarwinOdometryAlgorithm
     bool right_leg_fk_ready;
 
   public:
+   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    /**
     * \brief define config type
     *