diff --git a/src/calibration.cpp b/src/calibration.cpp
index d690484..3fbeef5 100644
--- a/src/calibration.cpp
+++ b/src/calibration.cpp
@@ -97,9 +97,9 @@ KDL::Chain Calibration::correctAxis(KDL::Chain& robot_chain)
   KDL::JntArray jointpositions = KDL::JntArray(num_jts);
 
   fk_solver.JntToCart(jointpositions, passive_frame, 2);
-  ROS_INFO_STREAM(passive_frame.p.x() << ", " << passive_frame.p.y() << ", " << passive_frame.p.z());
+  //ROS_INFO_STREAM(passive_frame.p.x() << ", " << passive_frame.p.y() << ", " << passive_frame.p.z());
   fk_solver.JntToCart(jointpositions, next_segment_frame, 3);
-  ROS_INFO_STREAM(next_segment_frame.p.x() << ", " << next_segment_frame.p.y() << ", " << next_segment_frame.p.z());
+  //ROS_INFO_STREAM(next_segment_frame.p.x() << ", " << next_segment_frame.p.y() << ", " << next_segment_frame.p.z());
 
   Eigen::Vector3d eigen_passive;
   tf::vectorKDLToEigen(passive_frame.p, eigen_passive);
@@ -138,7 +138,7 @@ KDL::Chain Calibration::correctAxis(KDL::Chain& robot_chain)
   double sign_dir = next_line.direction().z() > 0 ? 1.0 : -1.0;
   double distance_correction = intersection_param * sign_dir;
 
-  ROS_INFO_STREAM("Corrected chain at " << robot_chain.segments[0].getName());
+  //ROS_INFO_STREAM("Corrected chain at " << robot_chain.segments[0].getName());
   return buildCorrectedChain(robot_chain, new_length, new_theta, distance_correction);
 }
 
@@ -180,13 +180,13 @@ KDL::Chain Calibration::buildCorrectedChain(const KDL::Chain& robot_chain, const
   {
     KDL::Frame new_frame = robot_chain.getSegment(2).getFrameToTip();
     new_frame.p = robot_chain.getSegment(2).getFrameToTip().p;
-    ROS_INFO_STREAM("Correcting segment i+2 length from " << new_frame.p.z());
+    //ROS_INFO_STREAM("Correcting segment i+2 length from " << new_frame.p.z());
 
     // the d-parameter can be modified by the intersection_parameter which is the distance traveled
     // along the rotation axis
     new_frame.p = KDL::Vector(0, 0, new_frame.p.z() - distance_correction);
 
-    ROS_INFO_STREAM("Corrected segment i+2 length to " << new_frame.p.z());
+    //ROS_INFO_STREAM("Corrected segment i+2 length to " << new_frame.p.z());
     KDL::Joint new_joint = robot_chain.getSegment(2).getJoint();
 
     KDL::Segment segment = KDL::Segment(robot_chain.getSegment(2).getName(), new_joint, new_frame);
diff --git a/test/calibration_test.cpp b/test/calibration_test.cpp
index f706e8c..395903c 100644
--- a/test/calibration_test.cpp
+++ b/test/calibration_test.cpp
@@ -15,14 +15,15 @@
 #include <gtest/gtest.h>
 #include <ur_rtde_driver/calibration.h>
 
+namespace
+{
 TEST(UrRtdeDriver, ur10_ideal)
 {
   DHRobot my_robot;
-  const double pi = std::atan(1)*4;
+  const double pi = std::atan(1) * 4;
 
   // This is an ideal UR10
   // clang-format off
-  //                                     d,        a,       theta, alpha
   my_robot.segments_.push_back(DHSegment(0.1273  , 0      , 0    , pi / 2));
   my_robot.segments_.push_back(DHSegment(0       , -0.612 , 0    , 0));
   my_robot.segments_.push_back(DHSegment(0       , -0.5723, 0    , 0.0));
@@ -50,7 +51,7 @@ TEST(UrRtdeDriver, ur10_ideal)
 TEST(UrRtdeDriver, calibration)
 {
   DHRobot my_robot;
-  const double pi = std::atan(1)*4;
+  const double pi = std::atan(1) * 4;
 
   // This is an ideal UR10
   // clang-format off
@@ -89,20 +90,15 @@ TEST(UrRtdeDriver, calibration)
   fk_solver.JntToCart(jointpositions, result_corrected);
   //
   // Check whether our internal KDL representation gives correct values
-  std::cout << result_original.p.x() << std::endl;
-  std::cout << result_corrected.p.x() << std::endl;
-  std::cout << result_original.p.y() << std::endl;
-  std::cout << result_corrected.p.y() << std::endl;
-  std::cout << result_original.p.z() << std::endl;
-  std::cout << result_corrected.p.z() << std::endl;
   EXPECT_DOUBLE_EQ(result_original.p.x(), result_corrected.p.x());
   EXPECT_DOUBLE_EQ(result_original.p.y(), result_corrected.p.y());
   EXPECT_DOUBLE_EQ(result_original.p.z(), result_corrected.p.z());
 }
+}  // namespace
 
 int main(int argc, char* argv[])
 {
-  testing::InitGoogleTest(&argc, argv);
+  ::testing::InitGoogleTest(&argc, argv);
 
   return RUN_ALL_TESTS();
 }