diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_generic_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_generic_decoder.hpp
index 56da1e96..285c5e89 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_generic_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_generic_decoder.hpp
@@ -5,9 +5,7 @@
 
 #include <velodyne_msgs/msg/velodyne_packet.hpp>
 #include <velodyne_msgs/msg/velodyne_scan.hpp>
-
 #include <angles/angles.h>
-
 #include <array>
 #include <cmath>
 #include <utility>
@@ -215,7 +213,7 @@ class VelodyneDecoder : public VelodyneScanDecoder
 
         for (int unit_idx = 0; unit_idx < velodyne_packet::CHANNELS_PER_BLOCK; ++unit_idx) {
           uint16_t current_distance;
-          uint16_t other_distance;
+          uint16_t other_distance = 0;
           int firing_seq = sensor_.getFiringOrder(unit_idx, SensorT::channels_per_firing_sequence);
           int channel = sensor_.getChannelNumber(unit_idx);
 
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_sensor.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_sensor.hpp
index 9326a119..a6a1a1ed 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_sensor.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_sensor.hpp
@@ -19,21 +19,21 @@ class VelodyneSensor
   virtual bool fillAzimuthCache() { return false; }
 
   /// @brief VSL128User manual p. Packet structure
-  virtual uint getBank(uint bank, uint header) { return bank; }
+  virtual uint getBank(uint bank, uint /* header */) { return bank; }
 
   /// @brief each VLP calculating sample code and formula in user manual. If you know details, see commens in each <vlp_list>.hpp file.
   /// calculate the corrected azimuth from each firing timing.
   virtual uint16_t getAzimuthCorrected(
     uint16_t azimuth, float azimuth_diff, int firing_sequence, int firing_order) = 0;
 
-  /// @brief each VLP calculating sample code and formula in user manual.
-  /// Choose the correct azimuth from the 2 azimuths
-  virtual int getFiringOrder(int channels_per_block, int scans_per_firing) { return 0; }
+  /// @brief each VLP calculating sample code and formula in user manual. Check packet structure.
+  /// Get a correct firing order
+  virtual int getFiringOrder(int /* channels_per_block */, int /* scans_per_firing */) { return 0; }
+
+  /// @brief each VLP calculating sample code and formula in user manual. Check packet structure.
+  /// Get a correct channel number
+  virtual int getChannelNumber(int /* unit_idx */) { return 0; }
 
-  /// @brief each VLP calculating sample code and formula in user manual.
-  /// Choose the correct azimuth from the 2 azimuths
-  virtual int getChannelNumber(int unit_idx) { return 0; }
-  
 };
 }  // namespace drivers
 }  // namespace nebula
\ No newline at end of file