diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h b/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
index d10989c..7bf825d 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
@@ -26,6 +26,7 @@
 #include <cstddef>
 #include <cstring>
 #include <string>
+#include <memory>
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/types.h"
 
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
index ab23846..5cd812e 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
@@ -28,8 +28,7 @@
 #ifndef UR_RTDE_DRIVER_ROBOT_STATE_H_INCLUDED
 #define UR_RTDE_DRIVER_ROBOT_STATE_H_INCLUDED
 
-#include <mutex>
-#include <condition_variable>
+#include <sstream>
 
 #include "ur_rtde_driver/primary/primary_package.h"
 #include "ur_rtde_driver/primary/package_header.h"