diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h
index caac2f94eed78b033c153373f5d25f101fc2d833..93663bdf7fed2b4a8af6867c8e6226df6bd76571 100644
--- a/include/core/map/map_base.h
+++ b/include/core/map/map_base.h
@@ -28,7 +28,7 @@ class MapBase : public NodeBase, public std::enable_shared_from_this<MapBase>
         MapBase();
         ~MapBase() override;
         
-    private:
+    protected:
         virtual LandmarkBasePtr addLandmark(LandmarkBasePtr _landmark_ptr);
         virtual void removeLandmark(LandmarkBasePtr _landmark_ptr);
 
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 11dee8587c0e1ba03a77f23902f6a7a18c00e6ec..87fd864d82a0c28081ab087b7c9794353ca9ec5e 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -550,6 +550,8 @@ VectorComposite ProcessorMotion::getState(const StateStructure& _structure) cons
     const auto& calib_preint = last_ptr_->getCalibrationPreint();
 
     VectorComposite state;
+    //WOLF_INFO("processorMotion last timestamp: ", last_ptr_->getTimeStamp());
+    //WOLF_INFO("processorMotion origin timestamp: ", origin_ptr_->getTimeStamp());
     if ( hasCalibration())
     {
         // Get current calibration -- from origin capture