diff --git a/include/publisher_graph.h b/include/publisher_graph.h
index 7722dd7f50e0ff01fd157ab8f8164a1b84a09012..a71c03cb945e81acc7f57af78ffe081d9578bb3c 100644
--- a/include/publisher_graph.h
+++ b/include/publisher_graph.h
@@ -93,7 +93,6 @@ class PublisherGraph: public Publisher
 
         // auxiliar variables
         unsigned int landmark_max_hits_;
-        double       viz_period_;
         ros::Time    last_markers_publish_;
         std::set<std::string> factors_drawn_;
 
diff --git a/src/publisher_graph.cpp b/src/publisher_graph.cpp
index 3e980bb08d68a4dcd2174fc857d7bcb30064e702..e55327c7f3c83a8da399747c066e198e737611d2 100644
--- a/src/publisher_graph.cpp
+++ b/src/publisher_graph.cpp
@@ -589,6 +589,12 @@ void PublisherGraph::fillFactorMarker(FactorBaseConstPtr fac,
     fac_marker.points.push_back(point1);
     fac_marker.points.push_back(point2);
 
+    // initialize quaternion to avoid RVIZ warning
+    fac_marker.pose.orientation.w = 1.0;
+    fac_marker.pose.orientation.x = 0.0;
+    fac_marker.pose.orientation.y = 0.0;
+    fac_marker.pose.orientation.z = 0.0;
+
     // colors ------------------------------------------------------
     auto color = factor_abs_color_;
     if (fac->getTopology() == TOP_ABS)