diff --git a/ocs2_pinocchio/ocs2_centroidal_model/src/CentroidalModelRbdConversions.cpp b/ocs2_pinocchio/ocs2_centroidal_model/src/CentroidalModelRbdConversions.cpp
index 21fdd2119..2d99c9789 100644
--- a/ocs2_pinocchio/ocs2_centroidal_model/src/CentroidalModelRbdConversions.cpp
+++ b/ocs2_pinocchio/ocs2_centroidal_model/src/CentroidalModelRbdConversions.cpp
@@ -81,7 +81,7 @@ void CentroidalModelRbdConversions::computeBaseKinematicsFromCentroidalModel(con
   const Vector3 derivativeEulerAnglesZyx = vPinocchio.segment<3>(3);
   baseVelocity.tail<3>() = getGlobalAngularVelocityFromEulerAnglesZyxDerivatives<scalar_t>(baseOrientation, derivativeEulerAnglesZyx);
 
-  const Matrix6 Adot = pinocchio::dccrba(model, data, qPinocchio, vPinocchio);
+  const auto Adot = pinocchio::dccrba(model, data, qPinocchio, vPinocchio);
   Vector6 centroidalMomentumRate = info.robotMass * getNormalizedCentroidalMomentumRate(pinocchioInterface_, info, input);
   centroidalMomentumRate.noalias() -= Adot * vPinocchio;
   centroidalMomentumRate.noalias() -= Aj * jointAccelerations.head(info.actuatedDofNum);
diff --git a/ocs2_robotic_examples/ocs2_double_integrator/test/DoubleIntegratorNoRosIntegrationTest.cpp b/ocs2_robotic_examples/ocs2_double_integrator/test/DoubleIntegratorNoRosIntegrationTest.cpp
index 6eaff3204..aa0d941f9 100644
--- a/ocs2_robotic_examples/ocs2_double_integrator/test/DoubleIntegratorNoRosIntegrationTest.cpp
+++ b/ocs2_robotic_examples/ocs2_double_integrator/test/DoubleIntegratorNoRosIntegrationTest.cpp
@@ -153,6 +153,7 @@ TEST_F(DoubleIntegratorIntegrationTest, coldStartMPC) {
   ASSERT_NEAR(observation.state(0), goalState(0), tolerance);
 }
 
+#ifdef NDEBUG
 TEST_F(DoubleIntegratorIntegrationTest, asynchronousTracking) {
   auto mpcPtr = getMpc(true);
   MPC_MRT_Interface mpcInterface(*mpcPtr);
@@ -207,3 +208,4 @@ TEST_F(DoubleIntegratorIntegrationTest, asynchronousTracking) {
 
   ASSERT_NEAR(observation.state(0), goalState(0), tolerance);
 }
+#endif
diff --git a/ocs2_robotic_examples/ocs2_mobile_manipulator/test/testDummyMobileManipulator.cpp b/ocs2_robotic_examples/ocs2_mobile_manipulator/test/testDummyMobileManipulator.cpp
index 9fef6927f..f2be4e0c8 100644
--- a/ocs2_robotic_examples/ocs2_mobile_manipulator/test/testDummyMobileManipulator.cpp
+++ b/ocs2_robotic_examples/ocs2_mobile_manipulator/test/testDummyMobileManipulator.cpp
@@ -199,6 +199,7 @@ TEST_P(DummyMobileManipulatorParametersTests, synchronousTracking) {
   verifyTrackingQuality(observation.state);
 }
 
+#ifdef NDEBUG
 TEST_P(DummyMobileManipulatorParametersTests, asynchronousTracking) {
   // Obtain mpc
   initialize(getTaskFile(), getLibFolder(), getUrdfFile());
@@ -258,6 +259,7 @@ TEST_P(DummyMobileManipulatorParametersTests, asynchronousTracking) {
 
   verifyTrackingQuality(observation.state);
 }
+#endif
 
 /******************************************************************************************************/
 /******************************************************************************************************/