diff --git a/src/Util_TEST.cc b/src/Util_TEST.cc
index 3a051377e4..2385caf31a 100644
--- a/src/Util_TEST.cc
+++ b/src/Util_TEST.cc
@@ -722,7 +722,7 @@ TEST_F(UtilTest, EntityFromMsg)
   ecm.CreateComponent(actorDEntity, components::ParentEntity(worldEntity));
 
   // Check entities
-  auto createMsg = [&ecm](Entity _id, const std::string &_name = "",
+  auto createMsg = [&](Entity _id, const std::string &_name = "",
       msgs::Entity::Type _type = msgs::Entity::NONE) -> msgs::Entity
   {
     msgs::Entity msg;
diff --git a/src/systems/altimeter/Altimeter.cc b/src/systems/altimeter/Altimeter.cc
index 1b34fc63c1..1a143e0d04 100644
--- a/src/systems/altimeter/Altimeter.cc
+++ b/src/systems/altimeter/Altimeter.cc
@@ -245,7 +245,6 @@ void AltimeterPrivate::UpdateAltimeters(const EntityComponentManager &_ecm)
         auto it = this->entitySensorMap.find(_entity);
         if (it != this->entitySensorMap.end())
         {
-          math::Vector3d linearVel;
           math::Pose3d worldPose = _worldPose->Data();
           it->second->SetPosition(worldPose.Pos().Z());
           it->second->SetVerticalVelocity(_worldLinearVel->Data().Z());
diff --git a/src/systems/camera_video_recorder/CameraVideoRecorder.hh b/src/systems/camera_video_recorder/CameraVideoRecorder.hh
index f5f3dc02c1..c905301036 100644
--- a/src/systems/camera_video_recorder/CameraVideoRecorder.hh
+++ b/src/systems/camera_video_recorder/CameraVideoRecorder.hh
@@ -51,7 +51,7 @@ namespace systems
   ///
   ///   <bitrate> Video recorder bitrate (bps). The default value is
   ///             2070000 bps, and the supported type is unsigned int.
-  class CameraVideoRecorder:
+  class CameraVideoRecorder final:
     public System,
     public ISystemConfigure,
     public ISystemPostUpdate
diff --git a/test/integration/wheel_slip.cc b/test/integration/wheel_slip.cc
index 831d3be5a1..4e3daeee72 100644
--- a/test/integration/wheel_slip.cc
+++ b/test/integration/wheel_slip.cc
@@ -238,7 +238,6 @@ TEST_F(WheelSlipTest, TireDrum)
   // const double kp = surfaceContactOde->GetElement("kp")->Get<double>();
   // ASSERT_EQ(kp, 250e3);
 
-  double modelMass = 0.0;
   for (const auto &linkName : linksToCheck)
   {
     Entity linkEntity = ecm->EntityByComponents(
@@ -249,8 +248,6 @@ TEST_F(WheelSlipTest, TireDrum)
     auto inertialComp = ecm->Component<components::Inertial>(linkEntity);
 
     EXPECT_NE(nullptr, inertialComp);
-
-    modelMass += inertialComp->Data().MassMatrix().Mass();
   }
 
   // Get axle wheel and steer joint of wheel model