diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h
index 140cc7483d65d4c16e8ba6fa67120b5a3801f0c6..29adf8ae1e654c02b481271360833b0e587e95f2 100644
--- a/hello_wolf/sensor_range_bearing.h
+++ b/hello_wolf/sensor_range_bearing.h
@@ -19,6 +19,10 @@ struct IntrinsicsRangeBearing : public IntrinsicsBase
 {
         Scalar noise_range_metres_std       = 0.05;
         Scalar noise_bearing_degrees_std    = 0.5;
+    IntrinsicsRangeBearing()
+    {
+        //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
+    }
     IntrinsicsRangeBearing(std::string _unique_name, const paramsServer& _server):
         IntrinsicsBase(_unique_name, _server)
     {
diff --git a/include/base/sensor/sensor_IMU.h b/include/base/sensor/sensor_IMU.h
index c3889f786129de959215219018a7bc0b567000eb..4ae415566560ccb9ee3263890ee11d7dcc375833 100644
--- a/include/base/sensor/sensor_IMU.h
+++ b/include/base/sensor/sensor_IMU.h
@@ -28,6 +28,10 @@ struct IntrinsicsIMU : public IntrinsicsBase
         Scalar wb_rate_stdev = 0.00001;
 
         virtual ~IntrinsicsIMU() = default;
+    IntrinsicsIMU()
+    {
+        //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
+    }
     IntrinsicsIMU(std::string _unique_name, const paramsServer& _server):
         IntrinsicsBase(_unique_name, _server)
     {
diff --git a/include/base/sensor/sensor_camera.h b/include/base/sensor/sensor_camera.h
index da2461e0330885230bfc41030497506fc37b788b..8d2cd2e8248f1a1110cc5416d5c2cccc0dfb89e9 100644
--- a/include/base/sensor/sensor_camera.h
+++ b/include/base/sensor/sensor_camera.h
@@ -18,7 +18,10 @@ struct IntrinsicsCamera : public IntrinsicsBase
         Eigen::Vector4s pinhole_model_raw;      ///< k = [u_0, v_0, alpha_u, alpha_v]  vector of pinhole intrinsic parameters
         Eigen::Vector4s pinhole_model_rectified;///< k = [u_0, v_0, alpha_u, alpha_v]  vector of pinhole intrinsic parameters
         Eigen::VectorXs distortion;             ///< d = [d_1, d_2, d_3, ...] radial distortion coefficients
-
+    IntrinsicsCamera()
+    {
+        //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
+    }
     IntrinsicsCamera(std::string _unique_name, const paramsServer& _server):
         IntrinsicsBase(_unique_name,  _server)
     {
diff --git a/include/base/sensor/sensor_diff_drive.h b/include/base/sensor/sensor_diff_drive.h
index 1ca24f1b9020cf1753bb1110319453febef3be2f..b601875b987e42279f77abf63310fc48e202824f 100644
--- a/include/base/sensor/sensor_diff_drive.h
+++ b/include/base/sensor/sensor_diff_drive.h
@@ -33,6 +33,11 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
 
   Scalar left_gain_  = 0.01;
   Scalar right_gain_ = 0.01;
+
+    IntrinsicsDiffDrive()
+    {
+        //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
+    }
     IntrinsicsDiffDrive(std::string _unique_name, const paramsServer& _server):
         IntrinsicsBase(_unique_name, _server)
     {
diff --git a/include/base/sensor/sensor_odom_2D.h b/include/base/sensor/sensor_odom_2D.h
index c489bde2ededa14c1fb79065f28c9c2260945abd..1d71d926df8cf7a1ea84f43f2b9754183305e170 100644
--- a/include/base/sensor/sensor_odom_2D.h
+++ b/include/base/sensor/sensor_odom_2D.h
@@ -15,6 +15,10 @@ struct IntrinsicsOdom2D : public IntrinsicsBase
 
         Scalar k_disp_to_disp; ///< ratio of displacement variance to displacement, for odometry noise calculation
         Scalar k_rot_to_rot; ///< ratio of rotation variance to rotation, for odometry noise calculation
+    IntrinsicsOdom2D()
+    {
+        //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
+    }
     IntrinsicsOdom2D(std::string _unique_name, const paramsServer& _server):
         IntrinsicsBase(_unique_name, _server)
     {
diff --git a/include/base/sensor/sensor_odom_3D.h b/include/base/sensor/sensor_odom_3D.h
index a88b2aed2511cab3ee4a9dee5ebbf80f8482fffb..3f3c6c4345cc31fdefed9f67d9f559dd7e1c4473 100644
--- a/include/base/sensor/sensor_odom_3D.h
+++ b/include/base/sensor/sensor_odom_3D.h
@@ -23,6 +23,10 @@ struct IntrinsicsOdom3D : public IntrinsicsBase
         Scalar k_rot_to_rot; ///< ratio of rotation variance to rotation, for odometry noise calculation
         Scalar min_disp_var;
         Scalar min_rot_var;
+    IntrinsicsOdom3D()
+    {
+        //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
+    }
     IntrinsicsOdom3D(std::string _unique_name, const paramsServer& _server):
         IntrinsicsBase(_unique_name, _server)
     {