diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index f376f83aaa9ac51f1e75abf83e306fe2431c841c..652a58d7e80071014920fe05645612f4f5c3bcf4 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -761,17 +761,15 @@ PackKeyFramePtr ProcessorMotion::computeProcessingStep()
         if (pack)
         {
             if (buffer_pack_kf_.checkTimeTolerance(pack->key_frame->getTimeStamp(), pack->time_tolerance, origin_ptr_->getTimeStamp(), params_motion_->time_tolerance))
-            {
-                WOLF_WARN("||*||");
-                WOLF_INFO(" ... It seems you missed something!");
-                WOLF_ERROR("Pack's KF and origin's KF have matching time stamps (i.e. below time tolerances)");
-                //            throw std::runtime_error("Pack's KF and origin's KF have matching time stamps (i.e. below time tolerances)");
+
                 processing_step_ = RUNNING_WITH_KF_ON_ORIGIN;
-            }
+
             else if (pack->key_frame->getTimeStamp() < origin_ptr_->getTimeStamp())
+
                 processing_step_ = RUNNING_WITH_KF_BEFORE_ORIGIN;
 
             else
+
                 processing_step_ = RUNNING_WITH_KF_AFTER_ORIGIN;
 
         }
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 03634eb0938d9ae7c6a20b5d5a5d11a201989101..afdc43e02a8085feb99c4ae0ac1a9a4cdefe2162 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -22,7 +22,7 @@ SensorDiffDrive::SensorDiffDrive(const Eigen::VectorXd& _extrinsics,
     radians_per_tick = 2.0*M_PI / params_diff_drive_->ticks_per_wheel_revolution;
     getIntrinsic()->setState(Eigen::Vector3d(_intrinsics->radius_left,_intrinsics->radius_right,_intrinsics->wheel_separation));
     unfixIntrinsics();
-    std::cout << "Prior cov diag " << params_diff_drive_->prior_cov_diag.transpose() << std::endl;
+
     if(params_diff_drive_->set_intrinsics_prior)
         addPriorIntrinsics(getIntrinsic()->getState(), params_diff_drive_->prior_cov_diag.asDiagonal());
 
@@ -31,17 +31,13 @@ SensorDiffDrive::SensorDiffDrive(const Eigen::VectorXd& _extrinsics,
     double sigma_rev = 2*radians_per_tick;
     Eigen::Vector2d noise_sigma; noise_sigma << sigma_rev, sigma_rev;
 
-//    // 2. unmeasured lateral wheel slippage: sigma = 1mm
-//    double sigma_slippage = 0.001;
-//    Eigen::Vector3d noise_sigma; noise_sigma << sigma_rev, sigma_rev, sigma_slippage;
-
     setNoiseStd(noise_sigma);
    
 }
 
 SensorDiffDrive::~SensorDiffDrive()
 {
-    // TODO Auto-generated destructor stub
+    // Auto-generated destructor stub
 }