diff --git a/CMakeLists.txt b/CMakeLists.txt
index 192a622..0034ba8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -70,9 +70,12 @@ add_executable(list_devices
 )
 target_link_libraries(list_devices openni2_wrapper)
 
-add_executable(usb_reset src/usb_reset.c)
+if (UNIX AND NOT APPLE)
+  add_executable(usb_reset src/usb_reset.c)
+  set(ADDITIONAL_EXECUTABLES "usb_reset")
+endif()
 
-install(TARGETS openni2_wrapper openni2_camera_nodelet openni2_camera_node list_devices openni2_driver_lib usb_reset
+install(TARGETS openni2_wrapper openni2_camera_nodelet openni2_camera_node list_devices openni2_driver_lib ${ADDITIONAL_EXECUTABLES}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
diff --git a/include/openni2_camera/openni2_frame_listener.h b/include/openni2_camera/openni2_frame_listener.h
index 0a09abc..3338042 100644
--- a/include/openni2_camera/openni2_frame_listener.h
+++ b/include/openni2_camera/openni2_frame_listener.h
@@ -60,7 +60,7 @@ class OpenNI2FrameListener : public openni::VideoStream::NewFrameListener
     callback_ = callback;
   }
 
-  bool setUseDeviceTimer(bool enable);
+  void setUseDeviceTimer(bool enable);
 
 private:
   openni::VideoFrameRef m_frame;
diff --git a/src/openni2_device.cpp b/src/openni2_device.cpp
index 1ef3847..10a1828 100644
--- a/src/openni2_device.cpp
+++ b/src/openni2_device.cpp
@@ -713,6 +713,7 @@ std::ostream& operator <<(std::ostream& stream, const OpenNI2Device& device)
     stream << "No Depth sensor available" << std::endl;
   }
 
+  return stream;
 }
 
 }
diff --git a/src/openni2_device_manager.cpp b/src/openni2_device_manager.cpp
index e6daf46..c2a0416 100644
--- a/src/openni2_device_manager.cpp
+++ b/src/openni2_device_manager.cpp
@@ -268,6 +268,8 @@ std::ostream& operator << (std::ostream& stream, const OpenNI2DeviceManager& dev
                                      ", Product ID: " << it->product_id_ <<
                                       ")" << std::endl;
   }
+
+  return stream;
 }
 
 
diff --git a/src/openni2_driver.cpp b/src/openni2_driver.cpp
index 4b8fdc3..6e1d62c 100644
--- a/src/openni2_driver.cpp
+++ b/src/openni2_driver.cpp
@@ -68,7 +68,7 @@ OpenNI2Driver::OpenNI2Driver(ros::NodeHandle& n, ros::NodeHandle& pnh) :
   while (!config_init_)
   {
     ROS_DEBUG("Waiting for dynamic reconfigure configuration.");
-    boost::this_thread::sleep(boost::posix_time::seconds(0.1));
+    boost::this_thread::sleep(boost::posix_time::milliseconds(100));
   }
   ROS_DEBUG("Dynamic reconfigure configuration received.");
 
@@ -718,6 +718,8 @@ std::string OpenNI2Driver::resolveDeviceURI(const std::string& device_id) throw(
     }
     return matched_uri;
   }
+
+  return "INVALID";
 }
 
 void OpenNI2Driver::initDevice()
@@ -748,7 +750,7 @@ void OpenNI2Driver::initDevice()
   while (ros::ok() && !device_->isValid())
   {
     ROS_DEBUG("Waiting for device initialization..");
-    boost::this_thread::sleep(boost::posix_time::seconds(0.1));
+    boost::this_thread::sleep(boost::posix_time::milliseconds(100));
   }
 
 }
diff --git a/src/openni2_frame_listener.cpp b/src/openni2_frame_listener.cpp
index 18579fb..40cd627 100644
--- a/src/openni2_frame_listener.cpp
+++ b/src/openni2_frame_listener.cpp
@@ -51,7 +51,7 @@ OpenNI2FrameListener::OpenNI2FrameListener() :
   ros::Time::init();
 }
 
-bool OpenNI2FrameListener::setUseDeviceTimer(bool enable)
+void OpenNI2FrameListener::setUseDeviceTimer(bool enable)
 {
   user_device_timer_ = enable;