diff --git a/.clang-tidy b/.clang-tidy
index 23c1ab74b..03439f028 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -6,7 +6,6 @@
 # readability-named-parameter: Useful to fix lints about unused parameters
 # readability-implicit-bool-conversion: We have decided that !ptr-type is cleaner than ptr-type==nullptr
 # readability-magic-numbers: This encourages useless variables and extra lint lines
-# misc-unused-parameters: TODO(RSDK-3008) remove this and fix all lints.
 # misc-include-cleaner: TODO(RSDK-5479) this is overly finnicky, add IWYU support and fix.
 # readability-function-cognitive-complexity: No, complexity is subjective and sometimes necessary.
 # readability-else-after-return: No, this causes code complexification
@@ -26,7 +25,6 @@ Checks: >
   -readability-named-parameter,
   -readability-implicit-bool-conversion,
   -readability-magic-numbers,
-  -misc-unused-parameters,
   -misc-include-cleaner,
   -readability-function-cognitive-complexity,
   -readability-else-after-return,
diff --git a/src/viam/examples/modules/simple/main.cpp b/src/viam/examples/modules/simple/main.cpp
index 7e74d19eb..4b1bcf52d 100644
--- a/src/viam/examples/modules/simple/main.cpp
+++ b/src/viam/examples/modules/simple/main.cpp
@@ -43,7 +43,7 @@ class Printer : public GenericService {
         std::cout << "Printer " << Resource::name() << " will print " << to_print_ << std::endl;
     }
 
-    AttributeMap do_command(AttributeMap command) {
+    AttributeMap do_command(const AttributeMap& command) {
         std::cout << "Received DoCommand request for Printer " << Resource::name() << std::endl;
         std::cout << "Printer " << Resource::name() << " has printed " << to_print_ << std::endl;
         return command;
diff --git a/src/viam/sdk/components/base/server.cpp b/src/viam/sdk/components/base/server.cpp
index b04080402..e91acbc03 100644
--- a/src/viam/sdk/components/base/server.cpp
+++ b/src/viam/sdk/components/base/server.cpp
@@ -16,28 +16,27 @@ BaseServer::BaseServer(std::shared_ptr<ResourceManager> manager)
     : ResourceServer(std::move(manager)){};
 
 ::grpc::Status BaseServer::MoveStraight(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::base::v1::MoveStraightRequest* request,
-    ::viam::component::base::v1::MoveStraightResponse* response) noexcept {
+    ::viam::component::base::v1::MoveStraightResponse*) noexcept {
     return make_service_helper<Base>(
         "BaseServer::MoveStraight", this, request)([&](auto& helper, auto& base) {
         base->move_straight(request->distance_mm(), request->mm_per_sec(), helper.getExtra());
     });
 }
 
-::grpc::Status BaseServer::Spin(::grpc::ServerContext* context,
+::grpc::Status BaseServer::Spin(::grpc::ServerContext*,
                                 const ::viam::component::base::v1::SpinRequest* request,
-                                ::viam::component::base::v1::SpinResponse* response) noexcept {
+                                ::viam::component::base::v1::SpinResponse*) noexcept {
     return make_service_helper<Base>(
         "BaseServer::Spin", this, request)([&](auto& helper, auto& base) {
         base->spin(request->angle_deg(), request->degs_per_sec(), helper.getExtra());
     });
 }
 
-::grpc::Status BaseServer::SetPower(
-    ::grpc::ServerContext* context,
-    const ::viam::component::base::v1::SetPowerRequest* request,
-    ::viam::component::base::v1::SetPowerResponse* response) noexcept {
+::grpc::Status BaseServer::SetPower(::grpc::ServerContext*,
+                                    const ::viam::component::base::v1::SetPowerRequest* request,
+                                    ::viam::component::base::v1::SetPowerResponse*) noexcept {
     return make_service_helper<Base>(
         "BaseServer::SetPower", this, request)([&](auto& helper, auto& base) {
         auto linear = Vector3::from_proto(request->linear());
@@ -47,9 +46,9 @@ ::grpc::Status BaseServer::SetPower(
 }
 
 ::grpc::Status BaseServer::SetVelocity(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::base::v1::SetVelocityRequest* request,
-    ::viam::component::base::v1::SetVelocityResponse* response) noexcept {
+    ::viam::component::base::v1::SetVelocityResponse*) noexcept {
     return make_service_helper<Base>(
         "BaseServer::SetVelocity", this, request)([&](auto& helper, auto& base) {
         auto linear = Vector3::from_proto(request->linear());
@@ -58,26 +57,25 @@ ::grpc::Status BaseServer::SetVelocity(
     });
 }
 
-::grpc::Status BaseServer::Stop(::grpc::ServerContext* context,
+::grpc::Status BaseServer::Stop(::grpc::ServerContext*,
                                 const ::viam::component::base::v1::StopRequest* request,
-                                ::viam::component::base::v1::StopResponse* response) noexcept {
+                                ::viam::component::base::v1::StopResponse*) noexcept {
     return make_service_helper<Base>("BaseServer::Stop", this, request)(
         [&](auto& helper, auto& base) { base->stop(helper.getExtra()); });
 }
 
 ::grpc::Status BaseServer::IsMoving(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::base::v1::IsMovingRequest* request,
     ::viam::component::base::v1::IsMovingResponse* response) noexcept {
-    return make_service_helper<Base>(
-        "BaseServer::IsMoving", this, request)([&](auto& helper, auto& base) {
+    return make_service_helper<Base>("BaseServer::IsMoving", this, request)([&](auto&, auto& base) {
         const bool result = base->is_moving();
         response->set_is_moving(result);
     });
 }
 
 ::grpc::Status BaseServer::GetGeometries(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::common::v1::GetGeometriesRequest* request,
     ::viam::common::v1::GetGeometriesResponse* response) noexcept {
     return make_service_helper<Base>(
@@ -90,7 +88,7 @@ ::grpc::Status BaseServer::GetGeometries(
 }
 
 ::grpc::Status BaseServer::GetProperties(
-    grpc::ServerContext* context,
+    grpc::ServerContext*,
     const viam::component::base::v1::GetPropertiesRequest* request,
     viam::component::base::v1::GetPropertiesResponse* response) noexcept {
     return make_service_helper<Base>(
@@ -102,11 +100,11 @@ ::grpc::Status BaseServer::GetProperties(
     });
 }
 
-::grpc::Status BaseServer::DoCommand(grpc::ServerContext* context,
+::grpc::Status BaseServer::DoCommand(grpc::ServerContext*,
                                      const viam::common::v1::DoCommandRequest* request,
                                      viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Base>(
-        "BaseServer::DoCommand", this, request)([&](auto& helper, auto& base) {
+        "BaseServer::DoCommand", this, request)([&](auto&, auto& base) {
         const AttributeMap result = base->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
diff --git a/src/viam/sdk/components/board/server.cpp b/src/viam/sdk/components/board/server.cpp
index 5a218e244..40973ffdf 100644
--- a/src/viam/sdk/components/board/server.cpp
+++ b/src/viam/sdk/components/board/server.cpp
@@ -14,7 +14,7 @@ BoardServer::BoardServer(std::shared_ptr<ResourceManager> manager)
     : ResourceServer(std::move(manager)){};
 
 ::grpc::Status BoardServer::Status(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::board::v1::StatusRequest* request,
     ::viam::component::board::v1::StatusResponse* response) noexcept {
     return make_service_helper<Board>(
@@ -25,10 +25,9 @@ ::grpc::Status BoardServer::Status(
     });
 }
 
-::grpc::Status BoardServer::SetGPIO(
-    ::grpc::ServerContext* context,
-    const ::viam::component::board::v1::SetGPIORequest* request,
-    ::viam::component::board::v1::SetGPIOResponse* response) noexcept {
+::grpc::Status BoardServer::SetGPIO(::grpc::ServerContext*,
+                                    const ::viam::component::board::v1::SetGPIORequest* request,
+                                    ::viam::component::board::v1::SetGPIOResponse*) noexcept {
     return make_service_helper<Board>(
         "BoardServer::SetGPIO", this, request)([&](auto& helper, auto& board) {
         board->set_gpio(request->pin(), request->high(), helper.getExtra());
@@ -36,7 +35,7 @@ ::grpc::Status BoardServer::SetGPIO(
 }
 
 ::grpc::Status BoardServer::GetGPIO(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::board::v1::GetGPIORequest* request,
     ::viam::component::board::v1::GetGPIOResponse* response) noexcept {
     return make_service_helper<Board>(
@@ -45,7 +44,7 @@ ::grpc::Status BoardServer::GetGPIO(
     });
 }
 
-::grpc::Status BoardServer::PWM(::grpc::ServerContext* context,
+::grpc::Status BoardServer::PWM(::grpc::ServerContext*,
                                 const ::viam::component::board::v1::PWMRequest* request,
                                 ::viam::component::board::v1::PWMResponse* response) noexcept {
     return make_service_helper<Board>(
@@ -54,10 +53,9 @@ ::grpc::Status BoardServer::PWM(::grpc::ServerContext* context,
     });
 }
 
-::grpc::Status BoardServer::SetPWM(
-    ::grpc::ServerContext* context,
-    const ::viam::component::board::v1::SetPWMRequest* request,
-    ::viam::component::board::v1::SetPWMResponse* response) noexcept {
+::grpc::Status BoardServer::SetPWM(::grpc::ServerContext*,
+                                   const ::viam::component::board::v1::SetPWMRequest* request,
+                                   ::viam::component::board::v1::SetPWMResponse*) noexcept {
     return make_service_helper<Board>(
         "BoardServer::SetPWM", this, request)([&](auto& helper, auto& board) {
         board->set_pwm_duty_cycle(request->pin(), request->duty_cycle_pct(), helper.getExtra());
@@ -65,7 +63,7 @@ ::grpc::Status BoardServer::SetPWM(
 }
 
 ::grpc::Status BoardServer::PWMFrequency(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::board::v1::PWMFrequencyRequest* request,
     ::viam::component::board::v1::PWMFrequencyResponse* response) noexcept {
     return make_service_helper<Board>(
@@ -76,27 +74,27 @@ ::grpc::Status BoardServer::PWMFrequency(
 }
 
 ::grpc::Status BoardServer::SetPWMFrequency(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::board::v1::SetPWMFrequencyRequest* request,
-    ::viam::component::board::v1::SetPWMFrequencyResponse* response) noexcept {
+    ::viam::component::board::v1::SetPWMFrequencyResponse*) noexcept {
     return make_service_helper<Board>(
         "BoardServer::SetPWMFrequency", this, request)([&](auto& helper, auto& board) {
         board->set_pwm_frequency(request->pin(), request->frequency_hz(), helper.getExtra());
     });
 }
 
-::grpc::Status BoardServer::DoCommand(grpc::ServerContext* context,
+::grpc::Status BoardServer::DoCommand(grpc::ServerContext*,
                                       const viam::common::v1::DoCommandRequest* request,
                                       viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Board>(
-        "BoardServer::DoCommand", this, request)([&](auto& helper, auto& board) {
+        "BoardServer::DoCommand", this, request)([&](auto&, auto& board) {
         const AttributeMap result = board->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
 }
 
 ::grpc::Status BoardServer::ReadAnalogReader(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::board::v1::ReadAnalogReaderRequest* request,
     ::viam::component::board::v1::ReadAnalogReaderResponse* response) {
     if (!request) {
@@ -123,9 +121,9 @@ ::grpc::Status BoardServer::ReadAnalogReader(
 }
 
 ::grpc::Status BoardServer::WriteAnalog(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::board::v1::WriteAnalogRequest* request,
-    ::viam::component::board::v1::WriteAnalogResponse* response) {
+    ::viam::component::board::v1::WriteAnalogResponse*) {
     if (!request) {
         return ::grpc::Status(::grpc::StatusCode::INVALID_ARGUMENT,
                               "Called [Board::WriteAnalog] without a request");
@@ -148,7 +146,7 @@ ::grpc::Status BoardServer::WriteAnalog(
 }
 
 ::grpc::Status BoardServer::GetDigitalInterruptValue(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::board::v1::GetDigitalInterruptValueRequest* request,
     ::viam::component::board::v1::GetDigitalInterruptValueResponse* response) {
     if (!request) {
@@ -176,9 +174,9 @@ ::grpc::Status BoardServer::GetDigitalInterruptValue(
 }
 
 ::grpc::Status BoardServer::SetPowerMode(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::board::v1::SetPowerModeRequest* request,
-    ::viam::component::board::v1::SetPowerModeResponse* response) noexcept {
+    ::viam::component::board::v1::SetPowerModeResponse*) noexcept {
     return make_service_helper<Board>(
         "BoardServer::SetPowerMode", this, request)([&](auto& helper, auto& board) {
         if (request->has_duration()) {
@@ -192,7 +190,7 @@ ::grpc::Status BoardServer::SetPowerMode(
 }
 
 ::grpc::Status BoardServer::GetGeometries(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::common::v1::GetGeometriesRequest* request,
     ::viam::common::v1::GetGeometriesResponse* response) noexcept {
     return make_service_helper<Board>(
diff --git a/src/viam/sdk/components/camera/camera.hpp b/src/viam/sdk/components/camera/camera.hpp
index 3efbb190f..8826640e5 100644
--- a/src/viam/sdk/components/camera/camera.hpp
+++ b/src/viam/sdk/components/camera/camera.hpp
@@ -122,7 +122,7 @@ class Camera : public Component {
     /// @brief Send/receive arbitrary commands to the resource.
     /// @param Command the command to execute.
     /// @return The result of the executed command.
-    virtual AttributeMap do_command(AttributeMap command) = 0;
+    virtual AttributeMap do_command(const AttributeMap& command) = 0;
 
     /// @brief Get the next image from the camera as a raw image.
     /// @param mime_type the desired mime_type of the image (does not guarantee output type).
diff --git a/src/viam/sdk/components/camera/client.cpp b/src/viam/sdk/components/camera/client.cpp
index 6bbd9c5f3..c43391dfe 100644
--- a/src/viam/sdk/components/camera/client.cpp
+++ b/src/viam/sdk/components/camera/client.cpp
@@ -22,7 +22,7 @@ CameraClient::CameraClient(std::string name, std::shared_ptr<grpc::Channel> chan
       stub_(viam::component::camera::v1::CameraService::NewStub(channel)),
       channel_(std::move(channel)){};
 
-AttributeMap CameraClient::do_command(AttributeMap command) {
+AttributeMap CameraClient::do_command(const AttributeMap& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
         .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
         .invoke([](auto& response) { return struct_to_map(response.result()); });
diff --git a/src/viam/sdk/components/camera/client.hpp b/src/viam/sdk/components/camera/client.hpp
index d05c4866e..aa7cdbbea 100644
--- a/src/viam/sdk/components/camera/client.hpp
+++ b/src/viam/sdk/components/camera/client.hpp
@@ -23,7 +23,7 @@ class CameraClient : public Camera {
    public:
     using interface_type = Camera;
     CameraClient(std::string name, std::shared_ptr<grpc::Channel> channel);
-    AttributeMap do_command(AttributeMap command) override;
+    AttributeMap do_command(const AttributeMap& command) override;
     raw_image get_image(std::string mime_type, const AttributeMap& extra) override;
     image_collection get_images() override;
     point_cloud get_point_cloud(std::string mime_type, const AttributeMap& extra) override;
diff --git a/src/viam/sdk/components/camera/server.cpp b/src/viam/sdk/components/camera/server.cpp
index f4a594a0f..1cb3e7153 100644
--- a/src/viam/sdk/components/camera/server.cpp
+++ b/src/viam/sdk/components/camera/server.cpp
@@ -16,18 +16,18 @@ namespace sdk {
 CameraServer::CameraServer(std::shared_ptr<ResourceManager> manager)
     : ResourceServer(std::move(manager)){};
 
-::grpc::Status CameraServer::DoCommand(::grpc::ServerContext* context,
+::grpc::Status CameraServer::DoCommand(::grpc::ServerContext*,
                                        const ::viam::common::v1::DoCommandRequest* request,
                                        ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Camera>(
-        "CameraServer::DoCommand", this, request)([&](auto& helper, auto& camera) {
+        "CameraServer::DoCommand", this, request)([&](auto&, auto& camera) {
         const AttributeMap result = camera->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
 }
 
 ::grpc::Status CameraServer::GetImage(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::camera::v1::GetImageRequest* request,
     ::viam::component::camera::v1::GetImageResponse* response) noexcept {
     return make_service_helper<Camera>(
@@ -42,11 +42,11 @@ ::grpc::Status CameraServer::GetImage(
 }
 
 ::grpc::Status CameraServer::GetImages(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::camera::v1::GetImagesRequest* request,
     ::viam::component::camera::v1::GetImagesResponse* response) noexcept {
     return make_service_helper<Camera>(
-        "CameraServer::GetImages", this, request)([&](auto& helper, auto& camera) {
+        "CameraServer::GetImages", this, request)([&](auto&, auto& camera) {
         const Camera::image_collection image_coll = camera->get_images();
         for (const auto& img : image_coll.images) {
             ::viam::component::camera::v1::Image proto_image;
@@ -62,7 +62,7 @@ ::grpc::Status CameraServer::GetImages(
 }
 
 ::grpc::Status CameraServer::RenderFrame(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::camera::v1::RenderFrameRequest* request,
     ::google::api::HttpBody* response) noexcept {
     return make_service_helper<Camera>(
@@ -75,7 +75,7 @@ ::grpc::Status CameraServer::RenderFrame(
 }
 
 ::grpc::Status CameraServer::GetPointCloud(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::camera::v1::GetPointCloudRequest* request,
     ::viam::component::camera::v1::GetPointCloudResponse* response) noexcept {
     return make_service_helper<Camera>(
@@ -88,7 +88,7 @@ ::grpc::Status CameraServer::GetPointCloud(
 }
 
 ::grpc::Status CameraServer::GetGeometries(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::common::v1::GetGeometriesRequest* request,
     ::viam::common::v1::GetGeometriesResponse* response) noexcept {
     return make_service_helper<Camera>(
@@ -101,11 +101,11 @@ ::grpc::Status CameraServer::GetGeometries(
 }
 
 ::grpc::Status CameraServer::GetProperties(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::camera::v1::GetPropertiesRequest* request,
     ::viam::component::camera::v1::GetPropertiesResponse* response) noexcept {
     return make_service_helper<Camera>(
-        "CameraServer::GetProperties", this, request)([&](auto& helper, auto& camera) {
+        "CameraServer::GetProperties", this, request)([&](auto&, auto& camera) {
         const Camera::properties properties = camera->get_properties();
 
         *response->mutable_distortion_parameters() =
diff --git a/src/viam/sdk/components/encoder/client.cpp b/src/viam/sdk/components/encoder/client.cpp
index f51b6591a..e5e5ea0fc 100644
--- a/src/viam/sdk/components/encoder/client.cpp
+++ b/src/viam/sdk/components/encoder/client.cpp
@@ -46,7 +46,7 @@ std::vector<GeometryConfig> EncoderClient::get_geometries(const AttributeMap& ex
         .invoke([](auto& response) { return GeometryConfig::from_proto(response); });
 };
 
-AttributeMap EncoderClient::do_command(AttributeMap command) {
+AttributeMap EncoderClient::do_command(const AttributeMap& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
         .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
         .invoke([](auto& response) { return struct_to_map(response.result()); });
diff --git a/src/viam/sdk/components/encoder/client.hpp b/src/viam/sdk/components/encoder/client.hpp
index 786cf1b33..03c5da9b5 100644
--- a/src/viam/sdk/components/encoder/client.hpp
+++ b/src/viam/sdk/components/encoder/client.hpp
@@ -26,7 +26,7 @@ class EncoderClient : public Encoder {
     void reset_position(const AttributeMap& extra) override;
     properties get_properties(const AttributeMap& extra) override;
     std::vector<GeometryConfig> get_geometries(const AttributeMap& extra) override;
-    AttributeMap do_command(AttributeMap command) override;
+    AttributeMap do_command(const AttributeMap& command) override;
 
     // the `extra` param is frequently unnecessary but needs to be supported. Ideally, we'd
     // like to live in a world where implementers of derived classes don't need to go out of
diff --git a/src/viam/sdk/components/encoder/encoder.hpp b/src/viam/sdk/components/encoder/encoder.hpp
index 82ee2f195..a7e55b859 100644
--- a/src/viam/sdk/components/encoder/encoder.hpp
+++ b/src/viam/sdk/components/encoder/encoder.hpp
@@ -104,7 +104,7 @@ class Encoder : public Component {
     /// @brief Send/receive arbitrary commands to the resource.
     /// @param Command the command to execute.
     /// @return The result of the executed command.
-    virtual AttributeMap do_command(AttributeMap command) = 0;
+    virtual AttributeMap do_command(const AttributeMap& command) = 0;
 
     /// @brief Returns `GeometryConfig`s associated with the calling encoder.
     /// @return The requested `GeometryConfig`s associated with the component.
diff --git a/src/viam/sdk/components/encoder/server.cpp b/src/viam/sdk/components/encoder/server.cpp
index 981127012..0cb8a06e1 100644
--- a/src/viam/sdk/components/encoder/server.cpp
+++ b/src/viam/sdk/components/encoder/server.cpp
@@ -13,7 +13,7 @@ EncoderServer::EncoderServer(std::shared_ptr<ResourceManager> manager)
     : ResourceServer(std::move(manager)){};
 
 ::grpc::Status EncoderServer::GetPosition(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::encoder::v1::GetPositionRequest* request,
     ::viam::component::encoder::v1::GetPositionResponse* response) noexcept {
     return make_service_helper<Encoder>(
@@ -26,15 +26,15 @@ ::grpc::Status EncoderServer::GetPosition(
 }
 
 ::grpc::Status EncoderServer::ResetPosition(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::encoder::v1::ResetPositionRequest* request,
-    ::viam::component::encoder::v1::ResetPositionResponse* response) noexcept {
+    ::viam::component::encoder::v1::ResetPositionResponse*) noexcept {
     return make_service_helper<Encoder>("EncoderServer::ResetPosition", this, request)(
         [&](auto& helper, auto& encoder) { encoder->reset_position(helper.getExtra()); });
 }
 
 ::grpc::Status EncoderServer::GetProperties(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::encoder::v1::GetPropertiesRequest* request,
     ::viam::component::encoder::v1::GetPropertiesResponse* response) noexcept {
     return make_service_helper<Encoder>(
@@ -46,7 +46,7 @@ ::grpc::Status EncoderServer::GetProperties(
 }
 
 ::grpc::Status EncoderServer::GetGeometries(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::common::v1::GetGeometriesRequest* request,
     ::viam::common::v1::GetGeometriesResponse* response) noexcept {
     return make_service_helper<Encoder>(
@@ -58,11 +58,11 @@ ::grpc::Status EncoderServer::GetGeometries(
     });
 }
 
-::grpc::Status EncoderServer::DoCommand(grpc::ServerContext* context,
+::grpc::Status EncoderServer::DoCommand(grpc::ServerContext*,
                                         const viam::common::v1::DoCommandRequest* request,
                                         viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Encoder>(
-        "EncoderServer::DoCommand", this, request)([&](auto& helper, auto& encoder) {
+        "EncoderServer::DoCommand", this, request)([&](auto&, auto& encoder) {
         const AttributeMap result = encoder->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
diff --git a/src/viam/sdk/components/generic/client.cpp b/src/viam/sdk/components/generic/client.cpp
index 10baf5d71..7a611423e 100644
--- a/src/viam/sdk/components/generic/client.cpp
+++ b/src/viam/sdk/components/generic/client.cpp
@@ -20,7 +20,7 @@ GenericComponentClient::GenericComponentClient(std::string name,
       stub_(viam::component::generic::v1::GenericService::NewStub(channel)),
       channel_(std::move(channel)){};
 
-AttributeMap GenericComponentClient::do_command(AttributeMap command) {
+AttributeMap GenericComponentClient::do_command(const AttributeMap& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
         .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
         .invoke([](auto& response) { return struct_to_map(response.result()); });
diff --git a/src/viam/sdk/components/generic/client.hpp b/src/viam/sdk/components/generic/client.hpp
index 8e24a3b03..eb16e38ed 100644
--- a/src/viam/sdk/components/generic/client.hpp
+++ b/src/viam/sdk/components/generic/client.hpp
@@ -20,7 +20,7 @@ class GenericComponentClient : public GenericComponent {
    public:
     using interface_type = GenericComponent;
     GenericComponentClient(std::string name, std::shared_ptr<grpc::Channel> channel);
-    AttributeMap do_command(AttributeMap command) override;
+    AttributeMap do_command(const AttributeMap& command) override;
     std::vector<GeometryConfig> get_geometries(const AttributeMap& extra) override;
 
    protected:
diff --git a/src/viam/sdk/components/generic/generic.hpp b/src/viam/sdk/components/generic/generic.hpp
index da471227c..b523837e9 100644
--- a/src/viam/sdk/components/generic/generic.hpp
+++ b/src/viam/sdk/components/generic/generic.hpp
@@ -24,7 +24,7 @@ class GenericComponent : public Component {
     /// @brief Send/receive arbitrary commands to the resource.
     /// @param command the command to execute.
     /// @return The result of the executed command.
-    virtual AttributeMap do_command(AttributeMap command) = 0;
+    virtual AttributeMap do_command(const AttributeMap& command) = 0;
 
     /// @brief Returns `GeometryConfig`s associated with the calling camera.
     /// @return The requested `GeometryConfig`s associated with the component.
diff --git a/src/viam/sdk/components/generic/server.cpp b/src/viam/sdk/components/generic/server.cpp
index 95cfedeb7..7a50a0360 100644
--- a/src/viam/sdk/components/generic/server.cpp
+++ b/src/viam/sdk/components/generic/server.cpp
@@ -11,17 +11,17 @@ GenericComponentServer::GenericComponentServer(std::shared_ptr<ResourceManager>
     : ResourceServer(std::move(manager)){};
 
 ::grpc::Status GenericComponentServer::DoCommand(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::common::v1::DoCommandRequest* request,
     ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<GenericComponent>(
-        "GenericComponentServer::DoCommand", this, request)([&](auto& helper, auto& generic) {
+        "GenericComponentServer::DoCommand", this, request)([&](auto&, auto& generic) {
         const AttributeMap result = generic->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
 }
 ::grpc::Status GenericComponentServer::GetGeometries(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::common::v1::GetGeometriesRequest* request,
     ::viam::common::v1::GetGeometriesResponse* response) noexcept {
     return make_service_helper<GenericComponent>(
diff --git a/src/viam/sdk/components/motor/server.cpp b/src/viam/sdk/components/motor/server.cpp
index 5ba2dbb89..332f530a0 100644
--- a/src/viam/sdk/components/motor/server.cpp
+++ b/src/viam/sdk/components/motor/server.cpp
@@ -13,28 +13,27 @@ namespace sdk {
 MotorServer::MotorServer(std::shared_ptr<ResourceManager> manager)
     : ResourceServer(std::move(manager)){};
 
-::grpc::Status MotorServer::SetPower(
-    ::grpc::ServerContext* context,
-    const ::viam::component::motor::v1::SetPowerRequest* request,
-    ::viam::component::motor::v1::SetPowerResponse* response) noexcept {
+::grpc::Status MotorServer::SetPower(::grpc::ServerContext*,
+                                     const ::viam::component::motor::v1::SetPowerRequest* request,
+                                     ::viam::component::motor::v1::SetPowerResponse*) noexcept {
     return make_service_helper<Motor>(
         "MotorServer::SetPower", this, request)([&](auto& helper, auto& motor) {
         motor->set_power(request->power_pct(), helper.getExtra());
     });
 }
 
-::grpc::Status MotorServer::GoFor(::grpc::ServerContext* context,
+::grpc::Status MotorServer::GoFor(::grpc::ServerContext*,
                                   const ::viam::component::motor::v1::GoForRequest* request,
-                                  ::viam::component::motor::v1::GoForResponse* response) noexcept {
+                                  ::viam::component::motor::v1::GoForResponse*) noexcept {
     return make_service_helper<Motor>(
         "MotorServer::GoFor", this, request)([&](auto& helper, auto& motor) {
         motor->go_for(request->rpm(), request->revolutions(), helper.getExtra());
     });
 }
 
-::grpc::Status MotorServer::GoTo(::grpc::ServerContext* context,
+::grpc::Status MotorServer::GoTo(::grpc::ServerContext*,
                                  const ::viam::component::motor::v1::GoToRequest* request,
-                                 ::viam::component::motor::v1::GoToResponse* response) noexcept {
+                                 ::viam::component::motor::v1::GoToResponse*) noexcept {
     return make_service_helper<Motor>(
         "MotorServer::GoTo", this, request)([&](auto& helper, auto& motor) {
         motor->go_to(request->rpm(), request->position_revolutions(), helper.getExtra());
@@ -42,9 +41,9 @@ ::grpc::Status MotorServer::GoTo(::grpc::ServerContext* context,
 }
 
 ::grpc::Status MotorServer::ResetZeroPosition(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::motor::v1::ResetZeroPositionRequest* request,
-    ::viam::component::motor::v1::ResetZeroPositionResponse* response) noexcept {
+    ::viam::component::motor::v1::ResetZeroPositionResponse*) noexcept {
     return make_service_helper<Motor>(
         "MotorServer::ResetZeroPosition", this, request)([&](auto& helper, auto& motor) {
         motor->reset_zero_position(request->offset(), helper.getExtra());
@@ -52,7 +51,7 @@ ::grpc::Status MotorServer::ResetZeroPosition(
 }
 
 ::grpc::Status MotorServer::GetPosition(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::motor::v1::GetPositionRequest* request,
     ::viam::component::motor::v1::GetPositionResponse* response) noexcept {
     return make_service_helper<Motor>(
@@ -63,7 +62,7 @@ ::grpc::Status MotorServer::GetPosition(
 }
 
 ::grpc::Status MotorServer::GetProperties(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::motor::v1::GetPropertiesRequest* request,
     ::viam::component::motor::v1::GetPropertiesResponse* response) noexcept {
     return make_service_helper<Motor>(
@@ -73,15 +72,15 @@ ::grpc::Status MotorServer::GetProperties(
     });
 }
 
-::grpc::Status MotorServer::Stop(::grpc::ServerContext* context,
+::grpc::Status MotorServer::Stop(::grpc::ServerContext*,
                                  const ::viam::component::motor::v1::StopRequest* request,
-                                 ::viam::component::motor::v1::StopResponse* response) noexcept {
+                                 ::viam::component::motor::v1::StopResponse*) noexcept {
     return make_service_helper<Motor>("MotorServer::Stop", this, request)(
         [&](auto& helper, auto& motor) { motor->stop(helper.getExtra()); });
 }
 
 ::grpc::Status MotorServer::IsPowered(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::motor::v1::IsPoweredRequest* request,
     ::viam::component::motor::v1::IsPoweredResponse* response) noexcept {
     return make_service_helper<Motor>(
@@ -93,18 +92,18 @@ ::grpc::Status MotorServer::IsPowered(
 }
 
 ::grpc::Status MotorServer::IsMoving(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::motor::v1::IsMovingRequest* request,
     ::viam::component::motor::v1::IsMovingResponse* response) noexcept {
     return make_service_helper<Motor>(
-        "MotorServer::IsMoving", this, request)([&](auto& helper, auto& motor) {
+        "MotorServer::IsMoving", this, request)([&](auto&, auto& motor) {
         const bool result = motor->is_moving();
         response->set_is_moving(result);
     });
 }
 
 ::grpc::Status MotorServer::GetGeometries(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::common::v1::GetGeometriesRequest* request,
     ::viam::common::v1::GetGeometriesResponse* response) noexcept {
     return make_service_helper<Motor>(
@@ -116,11 +115,11 @@ ::grpc::Status MotorServer::GetGeometries(
     });
 }
 
-::grpc::Status MotorServer::DoCommand(grpc::ServerContext* context,
+::grpc::Status MotorServer::DoCommand(grpc::ServerContext*,
                                       const viam::common::v1::DoCommandRequest* request,
                                       viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Motor>(
-        "MotorServer::GetGeometries", this, request)([&](auto& helper, auto& motor) {
+        "MotorServer::GetGeometries", this, request)([&](auto&, auto& motor) {
         const AttributeMap result = motor->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
diff --git a/src/viam/sdk/components/movement_sensor/server.cpp b/src/viam/sdk/components/movement_sensor/server.cpp
index 62d496523..d17634b83 100644
--- a/src/viam/sdk/components/movement_sensor/server.cpp
+++ b/src/viam/sdk/components/movement_sensor/server.cpp
@@ -16,7 +16,7 @@ MovementSensorServer::MovementSensorServer(std::shared_ptr<ResourceManager> mana
     : ResourceServer(std::move(manager)){};
 
 ::grpc::Status MovementSensorServer::GetLinearVelocity(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const GetLinearVelocityRequest* request,
     GetLinearVelocityResponse* response) noexcept {
     return make_service_helper<MovementSensor>("MovementSensorServer::GetLinearVelocity",
@@ -28,7 +28,7 @@ ::grpc::Status MovementSensorServer::GetLinearVelocity(
 }
 
 ::grpc::Status MovementSensorServer::GetAngularVelocity(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const GetAngularVelocityRequest* request,
     GetAngularVelocityResponse* response) noexcept {
     return make_service_helper<MovementSensor>("MovementSensorServer::GetAngularVelocity",
@@ -40,7 +40,7 @@ ::grpc::Status MovementSensorServer::GetAngularVelocity(
 }
 
 ::grpc::Status MovementSensorServer::GetCompassHeading(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const GetCompassHeadingRequest* request,
     GetCompassHeadingResponse* response) noexcept {
     return make_service_helper<MovementSensor>("MovementSensorServer::GetCompassHeading",
@@ -52,7 +52,7 @@ ::grpc::Status MovementSensorServer::GetCompassHeading(
     });
 }
 
-::grpc::Status MovementSensorServer::GetOrientation(::grpc::ServerContext* context,
+::grpc::Status MovementSensorServer::GetOrientation(::grpc::ServerContext*,
                                                     const GetOrientationRequest* request,
                                                     GetOrientationResponse* response) noexcept {
     return make_service_helper<MovementSensor>("MovementSensorServer::GetOrientation",
@@ -64,7 +64,7 @@ ::grpc::Status MovementSensorServer::GetOrientation(::grpc::ServerContext* conte
     });
 }
 
-::grpc::Status MovementSensorServer::GetPosition(::grpc::ServerContext* context,
+::grpc::Status MovementSensorServer::GetPosition(::grpc::ServerContext*,
                                                  const GetPositionRequest* request,
                                                  GetPositionResponse* response) noexcept {
     return make_service_helper<MovementSensor>("MovementSensorServer::GetPosition", this, request)(
@@ -75,7 +75,7 @@ ::grpc::Status MovementSensorServer::GetPosition(::grpc::ServerContext* context,
         });
 }
 
-::grpc::Status MovementSensorServer::GetProperties(::grpc::ServerContext* context,
+::grpc::Status MovementSensorServer::GetProperties(::grpc::ServerContext*,
                                                    const GetPropertiesRequest* request,
                                                    GetPropertiesResponse* response) noexcept {
     return make_service_helper<MovementSensor>("MovementSensorServer::GetProperties",
@@ -91,7 +91,7 @@ ::grpc::Status MovementSensorServer::GetProperties(::grpc::ServerContext* contex
     });
 }
 
-::grpc::Status MovementSensorServer::GetAccuracy(::grpc::ServerContext* context,
+::grpc::Status MovementSensorServer::GetAccuracy(::grpc::ServerContext*,
                                                  const GetAccuracyRequest* request,
                                                  GetAccuracyResponse* response) noexcept {
     return make_service_helper<MovementSensor>("MovementSensorServer::GetAccuracy", this, request)(
@@ -104,7 +104,7 @@ ::grpc::Status MovementSensorServer::GetAccuracy(::grpc::ServerContext* context,
 }
 
 ::grpc::Status MovementSensorServer::GetLinearAcceleration(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const GetLinearAccelerationRequest* request,
     GetLinearAccelerationResponse* response) noexcept {
     return make_service_helper<MovementSensor>("MovementSensorServer::GetLinearAcceleration",
@@ -116,18 +116,18 @@ ::grpc::Status MovementSensorServer::GetLinearAcceleration(
 }
 
 ::grpc::Status MovementSensorServer::DoCommand(
-    grpc::ServerContext* context,
+    grpc::ServerContext*,
     const viam::common::v1::DoCommandRequest* request,
     viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<MovementSensor>(
-        "MovementSensorServer::DoCommand", this, request)([&](auto& helper, auto& movementsensor) {
+        "MovementSensorServer::DoCommand", this, request)([&](auto&, auto& movementsensor) {
         const AttributeMap result = movementsensor->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
 }
 
 ::grpc::Status MovementSensorServer::GetGeometries(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::common::v1::GetGeometriesRequest* request,
     ::viam::common::v1::GetGeometriesResponse* response) noexcept {
     return make_service_helper<MovementSensor>("MovementSensorServer::GetGeometries",
diff --git a/src/viam/sdk/components/power_sensor/server.cpp b/src/viam/sdk/components/power_sensor/server.cpp
index fb16abd8c..c0d1855a3 100644
--- a/src/viam/sdk/components/power_sensor/server.cpp
+++ b/src/viam/sdk/components/power_sensor/server.cpp
@@ -14,7 +14,7 @@ namespace sdk {
 PowerSensorServer::PowerSensorServer(std::shared_ptr<ResourceManager> manager)
     : ResourceServer(std::move(manager)){};
 
-::grpc::Status PowerSensorServer::GetVoltage(::grpc::ServerContext* context,
+::grpc::Status PowerSensorServer::GetVoltage(::grpc::ServerContext*,
                                              const GetVoltageRequest* request,
                                              GetVoltageResponse* response) noexcept {
     return make_service_helper<PowerSensor>(
@@ -24,7 +24,7 @@ ::grpc::Status PowerSensorServer::GetVoltage(::grpc::ServerContext* context,
     });
 }
 
-::grpc::Status PowerSensorServer::GetCurrent(::grpc::ServerContext* context,
+::grpc::Status PowerSensorServer::GetCurrent(::grpc::ServerContext*,
                                              const GetCurrentRequest* request,
                                              GetCurrentResponse* response) noexcept {
     return make_service_helper<PowerSensor>(
@@ -34,7 +34,7 @@ ::grpc::Status PowerSensorServer::GetCurrent(::grpc::ServerContext* context,
     });
 }
 
-::grpc::Status PowerSensorServer::GetPower(::grpc::ServerContext* context,
+::grpc::Status PowerSensorServer::GetPower(::grpc::ServerContext*,
                                            const GetPowerRequest* request,
                                            GetPowerResponse* response) noexcept {
     return make_service_helper<PowerSensor>(
@@ -45,7 +45,7 @@ ::grpc::Status PowerSensorServer::GetPower(::grpc::ServerContext* context,
 }
 
 ::grpc::Status PowerSensorServer::GetReadings(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const viam::common::v1::GetReadingsRequest* request,
     viam::common::v1::GetReadingsResponse* response) noexcept {
     return make_service_helper<PowerSensor>(
@@ -58,11 +58,11 @@ ::grpc::Status PowerSensorServer::GetReadings(
 }
 
 ::grpc::Status PowerSensorServer::DoCommand(
-    grpc::ServerContext* context,
+    grpc::ServerContext*,
     const viam::common::v1::DoCommandRequest* request,
     viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<PowerSensor>(
-        "PowerSensorServer::DoCommand", this, request)([&](auto& helper, auto& powersensor) {
+        "PowerSensorServer::DoCommand", this, request)([&](auto&, auto& powersensor) {
         const AttributeMap result = powersensor->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
diff --git a/src/viam/sdk/components/sensor/server.cpp b/src/viam/sdk/components/sensor/server.cpp
index eab3859aa..d49ff0fdf 100644
--- a/src/viam/sdk/components/sensor/server.cpp
+++ b/src/viam/sdk/components/sensor/server.cpp
@@ -14,7 +14,7 @@ namespace sdk {
 SensorServer::SensorServer(std::shared_ptr<ResourceManager> manager)
     : ResourceServer(std::move(manager)){};
 
-::grpc::Status SensorServer::GetReadings(::grpc::ServerContext* context,
+::grpc::Status SensorServer::GetReadings(::grpc::ServerContext*,
                                          const GetReadingsRequest* request,
                                          GetReadingsResponse* response) noexcept {
     return make_service_helper<Sensor>(
@@ -26,17 +26,17 @@ ::grpc::Status SensorServer::GetReadings(::grpc::ServerContext* context,
     });
 }
 
-::grpc::Status SensorServer::DoCommand(grpc::ServerContext* context,
+::grpc::Status SensorServer::DoCommand(grpc::ServerContext*,
                                        const DoCommandRequest* request,
                                        DoCommandResponse* response) noexcept {
     return make_service_helper<Sensor>(
-        "SensorServer::DoCommand", this, request)([&](auto& helper, auto& sensor) {
+        "SensorServer::DoCommand", this, request)([&](auto&, auto& sensor) {
         const AttributeMap result = sensor->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
 }
 
-::grpc::Status SensorServer::GetGeometries(::grpc::ServerContext* context,
+::grpc::Status SensorServer::GetGeometries(::grpc::ServerContext*,
                                            const GetGeometriesRequest* request,
                                            GetGeometriesResponse* response) noexcept {
     return make_service_helper<Sensor>(
diff --git a/src/viam/sdk/components/servo/server.cpp b/src/viam/sdk/components/servo/server.cpp
index 8ac254204..284f0fa0f 100644
--- a/src/viam/sdk/components/servo/server.cpp
+++ b/src/viam/sdk/components/servo/server.cpp
@@ -12,15 +12,15 @@ namespace sdk {
 ServoServer::ServoServer(std::shared_ptr<ResourceManager> manager)
     : ResourceServer(std::move(manager)){};
 
-::grpc::Status ServoServer::Move(::grpc::ServerContext* context,
+::grpc::Status ServoServer::Move(::grpc::ServerContext*,
                                  const ::viam::component::servo::v1::MoveRequest* request,
-                                 ::viam::component::servo::v1::MoveResponse* response) noexcept {
+                                 ::viam::component::servo::v1::MoveResponse*) noexcept {
     return make_service_helper<Servo>("ServoServer::Move", this, request)(
         [&](auto& helper, auto& servo) { servo->move(request->angle_deg(), helper.getExtra()); });
 }
 
 ::grpc::Status ServoServer::GetPosition(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::servo::v1::GetPositionRequest* request,
     ::viam::component::servo::v1::GetPositionResponse* response) noexcept {
     return make_service_helper<Servo>(
@@ -30,26 +30,26 @@ ::grpc::Status ServoServer::GetPosition(
     });
 }
 
-::grpc::Status ServoServer::Stop(::grpc::ServerContext* context,
+::grpc::Status ServoServer::Stop(::grpc::ServerContext*,
                                  const ::viam::component::servo::v1::StopRequest* request,
-                                 ::viam::component::servo::v1::StopResponse* response) noexcept {
+                                 ::viam::component::servo::v1::StopResponse*) noexcept {
     return make_service_helper<Servo>("ServoServer::Stop", this, request)(
         [&](auto& helper, auto& servo) { servo->stop(helper.getExtra()); });
 }
 
 ::grpc::Status ServoServer::IsMoving(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::component::servo::v1::IsMovingRequest* request,
     ::viam::component::servo::v1::IsMovingResponse* response) noexcept {
     return make_service_helper<Servo>(
-        "ServoServer::IsMoving", this, request)([&](auto& helper, auto& servo) {
+        "ServoServer::IsMoving", this, request)([&](auto&, auto& servo) {
         const bool result = servo->is_moving();
         response->set_is_moving(result);
     });
 }
 
 ::grpc::Status ServoServer::GetGeometries(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::common::v1::GetGeometriesRequest* request,
     ::viam::common::v1::GetGeometriesResponse* response) noexcept {
     return make_service_helper<Servo>(
@@ -61,11 +61,11 @@ ::grpc::Status ServoServer::GetGeometries(
     });
 }
 
-::grpc::Status ServoServer::DoCommand(grpc::ServerContext* context,
+::grpc::Status ServoServer::DoCommand(grpc::ServerContext*,
                                       const viam::common::v1::DoCommandRequest* request,
                                       viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Servo>(
-        "ServoServer::GetGeometries", this, request)([&](auto& helper, auto& servo) {
+        "ServoServer::GetGeometries", this, request)([&](auto&, auto& servo) {
         const AttributeMap result = servo->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
diff --git a/src/viam/sdk/module/service.cpp b/src/viam/sdk/module/service.cpp
index c2f9d0d52..c5241e274 100644
--- a/src/viam/sdk/module/service.cpp
+++ b/src/viam/sdk/module/service.cpp
@@ -71,9 +71,9 @@ std::shared_ptr<Resource> ModuleService::get_parent_resource_(const Name& name)
 }
 
 // TODO(RSDK-6528) - to the extent possible, switch to using `server_helper`
-::grpc::Status ModuleService::AddResource(::grpc::ServerContext* context,
+::grpc::Status ModuleService::AddResource(::grpc::ServerContext*,
                                           const ::viam::module::v1::AddResourceRequest* request,
-                                          ::viam::module::v1::AddResourceResponse* response) {
+                                          ::viam::module::v1::AddResourceResponse*) {
     const viam::app::v1::ComponentConfig& proto = request->config();
     const ResourceConfig cfg = ResourceConfig::from_proto(proto);
     const std::lock_guard<std::mutex> lock(lock_);
@@ -99,9 +99,9 @@ ::grpc::Status ModuleService::AddResource(::grpc::ServerContext* context,
 };
 
 ::grpc::Status ModuleService::ReconfigureResource(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::module::v1::ReconfigureResourceRequest* request,
-    ::viam::module::v1::ReconfigureResourceResponse* response) {
+    ::viam::module::v1::ReconfigureResourceResponse*) {
     const viam::app::v1::ComponentConfig& proto = request->config();
     ResourceConfig cfg = ResourceConfig::from_proto(proto);
 
@@ -148,7 +148,7 @@ ::grpc::Status ModuleService::ReconfigureResource(
 };
 
 ::grpc::Status ModuleService::ValidateConfig(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::module::v1::ValidateConfigRequest* request,
     ::viam::module::v1::ValidateConfigResponse* response) {
     const viam::app::v1::ComponentConfig& proto = request->config();
@@ -174,9 +174,9 @@ ::grpc::Status ModuleService::ValidateConfig(
 };
 
 ::grpc::Status ModuleService::RemoveResource(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::module::v1::RemoveResourceRequest* request,
-    ::viam::module::v1::RemoveResourceResponse* response) {
+    ::viam::module::v1::RemoveResourceResponse*) {
     auto name = Name::from_string(request->name());
     auto resource_server = server_->lookup_resource_server(name.api());
     if (!resource_server) {
@@ -200,7 +200,7 @@ ::grpc::Status ModuleService::RemoveResource(
     return grpc::Status();
 };
 
-::grpc::Status ModuleService::Ready(::grpc::ServerContext* context,
+::grpc::Status ModuleService::Ready(::grpc::ServerContext*,
                                     const ::viam::module::v1::ReadyRequest* request,
                                     ::viam::module::v1::ReadyResponse* response) {
     const std::lock_guard<std::mutex> lock(lock_);
@@ -267,7 +267,7 @@ ModuleService::~ModuleService() {
 
 void ModuleService::add_model_from_registry_inlock_(API api,
                                                     Model model,
-                                                    const std::lock_guard<std::mutex>& lock) {
+                                                    const std::lock_guard<std::mutex>&) {
     const std::shared_ptr<const ResourceServerRegistration> creator =
         Registry::lookup_resource_server(api);
     std::string name;
diff --git a/src/viam/sdk/robot/service.cpp b/src/viam/sdk/robot/service.cpp
index bf6b2c5b0..e2b421913 100644
--- a/src/viam/sdk/robot/service.cpp
+++ b/src/viam/sdk/robot/service.cpp
@@ -90,7 +90,7 @@ std::vector<Status> RobotService_::generate_status_(
     return returnable_statuses;
 }
 
-::grpc::Status RobotService_::ResourceNames(::grpc::ServerContext* context,
+::grpc::Status RobotService_::ResourceNames(::grpc::ServerContext*,
                                             const viam::robot::v1::ResourceNamesRequest* request,
                                             viam::robot::v1::ResourceNamesResponse* response) {
     if (!request) {
@@ -105,7 +105,7 @@ ::grpc::Status RobotService_::ResourceNames(::grpc::ServerContext* context,
     return ::grpc::Status();
 }
 
-::grpc::Status RobotService_::GetStatus(::grpc::ServerContext* context,
+::grpc::Status RobotService_::GetStatus(::grpc::ServerContext*,
                                         const ::viam::robot::v1::GetStatusRequest* request,
                                         ::viam::robot::v1::GetStatusResponse* response) {
     if (!request) {
@@ -140,7 +140,7 @@ void RobotService_::stream_status(
 }
 
 ::grpc::Status RobotService_::StreamStatus(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::robot::v1::StreamStatusRequest* request,
     ::grpc::ServerWriter<::viam::robot::v1::StreamStatusResponse>* writer) {
     uint64_t interval = 1;
@@ -154,9 +154,9 @@ ::grpc::Status RobotService_::StreamStatus(
     return ::grpc::Status();
 }
 
-::grpc::Status RobotService_::StopAll(::grpc::ServerContext* context,
+::grpc::Status RobotService_::StopAll(::grpc::ServerContext*,
                                       const ::viam::robot::v1::StopAllRequest* request,
-                                      ::viam::robot::v1::StopAllResponse* response) {
+                                      ::viam::robot::v1::StopAllResponse*) {
     const ResourceName r;
     std::unordered_map<std::string, AttributeMap> extra;
     for (const auto& ex : request->extra()) {
diff --git a/src/viam/sdk/services/generic/client.cpp b/src/viam/sdk/services/generic/client.cpp
index 493b76109..db053f959 100644
--- a/src/viam/sdk/services/generic/client.cpp
+++ b/src/viam/sdk/services/generic/client.cpp
@@ -19,7 +19,7 @@ GenericServiceClient::GenericServiceClient(std::string name, std::shared_ptr<grp
       stub_(viam::service::generic::v1::GenericService::NewStub(channel)),
       channel_(std::move(channel)){};
 
-AttributeMap GenericServiceClient::do_command(AttributeMap command) {
+AttributeMap GenericServiceClient::do_command(const AttributeMap& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
         .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
         .invoke([](auto& response) { return struct_to_map(response.result()); });
diff --git a/src/viam/sdk/services/generic/client.hpp b/src/viam/sdk/services/generic/client.hpp
index 256d230be..1021460ca 100644
--- a/src/viam/sdk/services/generic/client.hpp
+++ b/src/viam/sdk/services/generic/client.hpp
@@ -20,7 +20,7 @@ class GenericServiceClient : public GenericService {
    public:
     using interface_type = GenericService;
     GenericServiceClient(std::string name, std::shared_ptr<grpc::Channel> channel);
-    AttributeMap do_command(AttributeMap command) override;
+    AttributeMap do_command(const AttributeMap& command) override;
 
    protected:
     // This constructor leaves the `channel_` as a nullptr. This is useful for testing
diff --git a/src/viam/sdk/services/generic/generic.hpp b/src/viam/sdk/services/generic/generic.hpp
index 4d0568038..f129eeea5 100644
--- a/src/viam/sdk/services/generic/generic.hpp
+++ b/src/viam/sdk/services/generic/generic.hpp
@@ -25,7 +25,7 @@ class GenericService : public Service {
     /// @brief Send/receive arbitrary commands to the resource.
     /// @param command the command to execute.
     /// @return The result of the executed command.
-    virtual AttributeMap do_command(AttributeMap command) = 0;
+    virtual AttributeMap do_command(const AttributeMap& command) = 0;
 
     /// @brief Creates a `GenericService` `API`.
     API api() const override;
diff --git a/src/viam/sdk/services/generic/server.cpp b/src/viam/sdk/services/generic/server.cpp
index 5403d41b3..895a4f034 100644
--- a/src/viam/sdk/services/generic/server.cpp
+++ b/src/viam/sdk/services/generic/server.cpp
@@ -11,11 +11,11 @@ GenericServiceServer::GenericServiceServer(std::shared_ptr<ResourceManager> mana
     : ResourceServer(std::move(manager)){};
 
 ::grpc::Status GenericServiceServer::DoCommand(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::common::v1::DoCommandRequest* request,
     ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<GenericService>(
-        "GenericServiceServer::DoCommand", this, request)([&](auto& helper, auto& generic) {
+        "GenericServiceServer::DoCommand", this, request)([&](auto&, auto& generic) {
         const AttributeMap result = generic->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
diff --git a/src/viam/sdk/services/mlmodel/mlmodel.cpp b/src/viam/sdk/services/mlmodel/mlmodel.cpp
index bee188919..079ba9ca0 100644
--- a/src/viam/sdk/services/mlmodel/mlmodel.cpp
+++ b/src/viam/sdk/services/mlmodel/mlmodel.cpp
@@ -104,43 +104,43 @@ MLModelService::tensor_info::data_types MLModelService::tensor_info::tensor_view
     const tensor_views& view) {
     class visitor : public boost::static_visitor<data_types> {
        public:
-        data_types operator()(const MLModelService::tensor_view<std::int8_t>& t) const {
+        data_types operator()(const MLModelService::tensor_view<std::int8_t>&) const {
             return data_types::k_int8;
         }
 
-        data_types operator()(const MLModelService::tensor_view<std::uint8_t>& t) const {
+        data_types operator()(const MLModelService::tensor_view<std::uint8_t>&) const {
             return data_types::k_uint8;
         }
 
-        data_types operator()(const MLModelService::tensor_view<std::int16_t>& t) const {
+        data_types operator()(const MLModelService::tensor_view<std::int16_t>&) const {
             return data_types::k_int16;
         }
 
-        data_types operator()(const MLModelService::tensor_view<std::uint16_t>& t) const {
+        data_types operator()(const MLModelService::tensor_view<std::uint16_t>&) const {
             return data_types::k_uint16;
         }
 
-        data_types operator()(const MLModelService::tensor_view<std::int32_t>& t) const {
+        data_types operator()(const MLModelService::tensor_view<std::int32_t>&) const {
             return data_types::k_int32;
         }
 
-        data_types operator()(const MLModelService::tensor_view<std::uint32_t>& t) const {
+        data_types operator()(const MLModelService::tensor_view<std::uint32_t>&) const {
             return data_types::k_uint32;
         }
 
-        data_types operator()(const MLModelService::tensor_view<std::int64_t>& t) const {
+        data_types operator()(const MLModelService::tensor_view<std::int64_t>&) const {
             return data_types::k_int64;
         }
 
-        data_types operator()(const MLModelService::tensor_view<std::uint64_t>& t) const {
+        data_types operator()(const MLModelService::tensor_view<std::uint64_t>&) const {
             return data_types::k_uint64;
         }
 
-        data_types operator()(const MLModelService::tensor_view<float>& t) const {
+        data_types operator()(const MLModelService::tensor_view<float>&) const {
             return data_types::k_float32;
         }
 
-        data_types operator()(const MLModelService::tensor_view<double>& t) const {
+        data_types operator()(const MLModelService::tensor_view<double>&) const {
             return data_types::k_float64;
         }
     };
diff --git a/src/viam/sdk/services/mlmodel/server.cpp b/src/viam/sdk/services/mlmodel/server.cpp
index 835699589..02e970223 100644
--- a/src/viam/sdk/services/mlmodel/server.cpp
+++ b/src/viam/sdk/services/mlmodel/server.cpp
@@ -26,7 +26,7 @@ MLModelServiceServer::MLModelServiceServer(std::shared_ptr<ResourceManager> mana
     : ResourceServer(std::move(manager)) {}
 
 ::grpc::Status MLModelServiceServer::Infer(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::service::mlmodel::v1::InferRequest* request,
     ::viam::service::mlmodel::v1::InferResponse* response) noexcept {
     return make_service_helper<MLModelService>(
@@ -73,7 +73,7 @@ ::grpc::Status MLModelServiceServer::Infer(
 }
 
 ::grpc::Status MLModelServiceServer::Metadata(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::service::mlmodel::v1::MetadataRequest* request,
     ::viam::service::mlmodel::v1::MetadataResponse* response) noexcept {
     return make_service_helper<MLModelService>(
diff --git a/src/viam/sdk/services/motion/server.cpp b/src/viam/sdk/services/motion/server.cpp
index fdab6b2a3..21c7048b5 100644
--- a/src/viam/sdk/services/motion/server.cpp
+++ b/src/viam/sdk/services/motion/server.cpp
@@ -16,7 +16,7 @@ namespace sdk {
 MotionServer::MotionServer(std::shared_ptr<ResourceManager> manager)
     : ResourceServer(std::move(manager)){};
 
-::grpc::Status MotionServer::Move(::grpc::ServerContext* context,
+::grpc::Status MotionServer::Move(::grpc::ServerContext*,
                                   const ::viam::service::motion::v1::MoveRequest* request,
                                   ::viam::service::motion::v1::MoveResponse* response) noexcept {
     return make_service_helper<Motion>(
@@ -42,7 +42,7 @@ ::grpc::Status MotionServer::Move(::grpc::ServerContext* context,
 };
 
 ::grpc::Status MotionServer::MoveOnMap(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::service::motion::v1::MoveOnMapRequest* request,
     ::viam::service::motion::v1::MoveOnMapResponse* response) noexcept {
     return make_service_helper<Motion>(
@@ -64,7 +64,7 @@ ::grpc::Status MotionServer::MoveOnMap(
 }
 
 ::grpc::Status MotionServer::MoveOnGlobe(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::service::motion::v1::MoveOnGlobeRequest* request,
     ::viam::service::motion::v1::MoveOnGlobeResponse* response) noexcept {
     return make_service_helper<Motion>(
@@ -102,7 +102,7 @@ ::grpc::Status MotionServer::MoveOnGlobe(
 }
 
 ::grpc::Status MotionServer::GetPose(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::service::motion::v1::GetPoseRequest* request,
     ::viam::service::motion::v1::GetPoseResponse* response) noexcept {
     return make_service_helper<Motion>(
@@ -120,7 +120,7 @@ ::grpc::Status MotionServer::GetPose(
 };
 
 ::grpc::Status MotionServer::GetPlan(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const ::viam::service::motion::v1::GetPlanRequest* request,
     ::viam::service::motion::v1::GetPlanResponse* response) noexcept {
     return make_service_helper<Motion>(
@@ -155,7 +155,7 @@ ::grpc::Status MotionServer::GetPlan(
 }
 
 ::grpc::Status MotionServer::ListPlanStatuses(
-    ::grpc::ServerContext* context,
+    ::grpc::ServerContext*,
     const service::motion::v1::ListPlanStatusesRequest* request,
     service::motion::v1::ListPlanStatusesResponse* response) noexcept {
     return make_service_helper<Motion>(
@@ -173,10 +173,9 @@ ::grpc::Status MotionServer::ListPlanStatuses(
     });
 }
 
-::grpc::Status MotionServer::StopPlan(
-    ::grpc::ServerContext* context,
-    const ::viam::service::motion::v1::StopPlanRequest* request,
-    ::viam::service::motion::v1::StopPlanResponse* response) noexcept {
+::grpc::Status MotionServer::StopPlan(::grpc::ServerContext*,
+                                      const ::viam::service::motion::v1::StopPlanRequest* request,
+                                      ::viam::service::motion::v1::StopPlanResponse*) noexcept {
     return make_service_helper<Motion>(
         "MotionServer::StopPlan", this, request)([&](auto& helper, auto& motion) {
         const auto& component_name = Name::from_proto(request->component_name());
@@ -185,11 +184,11 @@ ::grpc::Status MotionServer::StopPlan(
     });
 }
 
-::grpc::Status MotionServer::DoCommand(::grpc::ServerContext* context,
+::grpc::Status MotionServer::DoCommand(::grpc::ServerContext*,
                                        const ::viam::common::v1::DoCommandRequest* request,
                                        ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Motion>(
-        "MotionServer::DoCommand", this, request)([&](auto& helper, auto& motion) {
+        "MotionServer::DoCommand", this, request)([&](auto&, auto& motion) {
         const AttributeMap result = motion->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);
     });
diff --git a/src/viam/sdk/tests/mocks/camera_mocks.cpp b/src/viam/sdk/tests/mocks/camera_mocks.cpp
index 324c64c89..20042de82 100644
--- a/src/viam/sdk/tests/mocks/camera_mocks.cpp
+++ b/src/viam/sdk/tests/mocks/camera_mocks.cpp
@@ -15,19 +15,19 @@ namespace camera {
 
 using namespace viam::sdk;
 
-AttributeMap MockCamera::do_command(AttributeMap command) {
+AttributeMap MockCamera::do_command(const AttributeMap&) {
     return map_;
 }
-Camera::raw_image MockCamera::get_image(std::string mime_type, const AttributeMap& extra) {
+Camera::raw_image MockCamera::get_image(std::string, const AttributeMap&) {
     return image_;
 }
 Camera::image_collection MockCamera::get_images() {
     return images_;
 }
-Camera::point_cloud MockCamera::get_point_cloud(std::string mime_type, const AttributeMap& extra) {
+Camera::point_cloud MockCamera::get_point_cloud(std::string, const AttributeMap&) {
     return pc_;
 }
-std::vector<GeometryConfig> MockCamera::get_geometries(const AttributeMap& extra) {
+std::vector<GeometryConfig> MockCamera::get_geometries(const AttributeMap&) {
     return geometries_;
 }
 Camera::properties MockCamera::get_properties() {
diff --git a/src/viam/sdk/tests/mocks/camera_mocks.hpp b/src/viam/sdk/tests/mocks/camera_mocks.hpp
index 26a1c21e4..0776e399e 100644
--- a/src/viam/sdk/tests/mocks/camera_mocks.hpp
+++ b/src/viam/sdk/tests/mocks/camera_mocks.hpp
@@ -16,7 +16,7 @@ using namespace viam::sdk;
 
 class MockCamera : public Camera {
    public:
-    AttributeMap do_command(AttributeMap command) override;
+    AttributeMap do_command(const AttributeMap& command) override;
     raw_image get_image(std::string mime_type, const sdk::AttributeMap& extra) override;
     image_collection get_images() override;
     point_cloud get_point_cloud(std::string mime_type, const sdk::AttributeMap& extra) override;
diff --git a/src/viam/sdk/tests/mocks/generic_mocks.cpp b/src/viam/sdk/tests/mocks/generic_mocks.cpp
index dac7cfa9b..38163f9ad 100644
--- a/src/viam/sdk/tests/mocks/generic_mocks.cpp
+++ b/src/viam/sdk/tests/mocks/generic_mocks.cpp
@@ -4,6 +4,7 @@
 #include <viam/api/component/camera/v1/camera.grpc.pb.h>
 #include <viam/api/component/camera/v1/camera.pb.h>
 
+#include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/components/generic/client.hpp>
 #include <viam/sdk/components/generic/generic.hpp>
 #include <viam/sdk/components/generic/server.hpp>
@@ -15,12 +16,10 @@ namespace generic {
 
 using namespace viam::sdk;
 
-std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<ProtoType>>>
-MockGenericComponent::do_command(
-    std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<ProtoType>>> command) {
+AttributeMap MockGenericComponent::do_command(const AttributeMap&) {
     return map_;
 }
-std::vector<GeometryConfig> MockGenericComponent::get_geometries(const AttributeMap& extra) {
+std::vector<GeometryConfig> MockGenericComponent::get_geometries(const AttributeMap&) {
     return geometries_;
 }
 std::shared_ptr<MockGenericComponent> MockGenericComponent::get_mock_generic() {
@@ -32,8 +31,7 @@ std::shared_ptr<MockGenericComponent> MockGenericComponent::get_mock_generic() {
 }
 
 std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<ProtoType>>>
-MockGenericService::do_command(
-    std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<ProtoType>>> command) {
+MockGenericService::do_command(const AttributeMap&) {
     return map_;
 }
 std::shared_ptr<MockGenericService> MockGenericService::get_mock_generic() {
diff --git a/src/viam/sdk/tests/mocks/generic_mocks.hpp b/src/viam/sdk/tests/mocks/generic_mocks.hpp
index 7ac5a24b2..a374fcd44 100644
--- a/src/viam/sdk/tests/mocks/generic_mocks.hpp
+++ b/src/viam/sdk/tests/mocks/generic_mocks.hpp
@@ -1,5 +1,6 @@
 #pragma once
 
+#include "viam/sdk/common/proto_type.hpp"
 #include <viam/api/common/v1/common.pb.h>
 
 #include <viam/sdk/components/generic/client.hpp>
@@ -18,9 +19,7 @@ using namespace viam::sdk;
 class MockGenericComponent : public GenericComponent {
    public:
     MockGenericComponent(std::string name) : GenericComponent(std::move(name)){};
-    std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<ProtoType>>> do_command(
-        std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<ProtoType>>> command)
-        override;
+    AttributeMap do_command(const AttributeMap& command) override;
 
     static std::shared_ptr<MockGenericComponent> get_mock_generic();
     std::vector<GeometryConfig> get_geometries(const AttributeMap& extra) override;
@@ -33,9 +32,7 @@ class MockGenericComponent : public GenericComponent {
 class MockGenericService : public GenericService {
    public:
     MockGenericService(std::string name) : GenericService(std::move(name)){};
-    std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<ProtoType>>> do_command(
-        std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<ProtoType>>> command)
-        override;
+    AttributeMap do_command(const AttributeMap& command) override;
 
     static std::shared_ptr<MockGenericService> get_mock_generic();
 
diff --git a/src/viam/sdk/tests/mocks/mlmodel_mocks.cpp b/src/viam/sdk/tests/mocks/mlmodel_mocks.cpp
index 6e16ede77..9ba070eff 100644
--- a/src/viam/sdk/tests/mocks/mlmodel_mocks.cpp
+++ b/src/viam/sdk/tests/mocks/mlmodel_mocks.cpp
@@ -25,7 +25,7 @@ MockMLModelService& MockMLModelService::set_infer_handler(infer_handler handler)
 }
 
 std::shared_ptr<sdk::MLModelService::named_tensor_views> MockMLModelService::infer(
-    const named_tensor_views& inputs, const sdk::AttributeMap& extra) {
+    const named_tensor_views& inputs, const sdk::AttributeMap&) {
     return infer_handler_(inputs);
 }
 
@@ -34,7 +34,7 @@ MockMLModelService& MockMLModelService::set_metadata(struct metadata metadata) {
     return *this;
 }
 
-struct sdk::MLModelService::metadata MockMLModelService::metadata(const sdk::AttributeMap& extra) {
+struct sdk::MLModelService::metadata MockMLModelService::metadata(const sdk::AttributeMap&) {
     return metadata_;
 }
 
diff --git a/src/viam/sdk/tests/mocks/mock_base.cpp b/src/viam/sdk/tests/mocks/mock_base.cpp
index 4a2aa9f39..831b151a5 100644
--- a/src/viam/sdk/tests/mocks/mock_base.cpp
+++ b/src/viam/sdk/tests/mocks/mock_base.cpp
@@ -20,34 +20,32 @@ Base::properties fake_properties() {
     return {2, 4, 8};
 }
 
-void MockBase::move_straight(int64_t distance_mm, double mm_per_sec, const AttributeMap& extra) {
+void MockBase::move_straight(int64_t distance_mm, double mm_per_sec, const AttributeMap&) {
     this->peek_move_straight_distance_mm = distance_mm;
     this->peek_move_straight_mm_per_sec = mm_per_sec;
 }
-void MockBase::spin(double angle_deg, double degs_per_sec, const AttributeMap& extra) {
+void MockBase::spin(double angle_deg, double degs_per_sec, const AttributeMap&) {
     this->peek_spin_angle_deg = angle_deg;
     this->peek_spin_degs_per_sec = degs_per_sec;
 }
-void MockBase::set_power(const Vector3& linear, const Vector3& angular, const AttributeMap& extra) {
+void MockBase::set_power(const Vector3& linear, const Vector3& angular, const AttributeMap&) {
     this->peek_set_power_linear = linear;
     this->peek_set_power_angular = angular;
 }
-void MockBase::set_velocity(const Vector3& linear,
-                            const Vector3& angular,
-                            const AttributeMap& extra) {
+void MockBase::set_velocity(const Vector3& linear, const Vector3& angular, const AttributeMap&) {
     this->peek_set_velocity_linear = linear;
     this->peek_set_velocity_angular = angular;
 }
-void MockBase::stop(const AttributeMap& extra) {
+void MockBase::stop(const AttributeMap&) {
     this->peek_stop_called = true;
 }
 bool MockBase::is_moving() {
     return false;
 }
-Base::properties MockBase::get_properties(const sdk::AttributeMap& extra) {
+Base::properties MockBase::get_properties(const sdk::AttributeMap&) {
     return fake_properties();
 }
-std::vector<GeometryConfig> MockBase::get_geometries(const sdk::AttributeMap& extra) {
+std::vector<GeometryConfig> MockBase::get_geometries(const sdk::AttributeMap&) {
     return fake_geometries();
 }
 
diff --git a/src/viam/sdk/tests/mocks/mock_board.cpp b/src/viam/sdk/tests/mocks/mock_board.cpp
index be950c274..c9538593c 100644
--- a/src/viam/sdk/tests/mocks/mock_board.cpp
+++ b/src/viam/sdk/tests/mocks/mock_board.cpp
@@ -17,40 +17,40 @@ using namespace viam::sdk;
 
 MockBoard::MockBoard(std::string name) : Board(std::move(name)){};
 
-Board::status MockBoard::get_status(const AttributeMap& extra) {
+Board::status MockBoard::get_status(const AttributeMap&) {
     return this->peek_get_status_ret;
 }
 
-void MockBoard::set_gpio(const std::string& pin, bool high, const AttributeMap& extra) {
+void MockBoard::set_gpio(const std::string& pin, bool high, const AttributeMap&) {
     this->peek_pin = pin;
     this->peek_set_gpio_high = high;
 }
 
-bool MockBoard::get_gpio(const std::string& pin, const AttributeMap& extra) {
+bool MockBoard::get_gpio(const std::string& pin, const AttributeMap&) {
     this->peek_pin = pin;
     return this->peek_get_gpio_ret;
 }
 
-double MockBoard::get_pwm_duty_cycle(const std::string& pin, const AttributeMap& extra) {
+double MockBoard::get_pwm_duty_cycle(const std::string& pin, const AttributeMap&) {
     this->peek_pin = pin;
     return this->peek_get_pwm_duty_cycle_ret;
 }
 
 void MockBoard::set_pwm_duty_cycle(const std::string& pin,
                                    double duty_cycle_pct,
-                                   const AttributeMap& extra) {
+                                   const AttributeMap&) {
     this->peek_pin = pin;
     this->peek_set_pwm_duty_cycle_pct = duty_cycle_pct;
 }
 
-uint64_t MockBoard::get_pwm_frequency(const std::string& pin, const AttributeMap& extra) {
+uint64_t MockBoard::get_pwm_frequency(const std::string& pin, const AttributeMap&) {
     this->peek_pin = pin;
     return this->peek_get_pwm_frequency_ret;
 }
 
 void MockBoard::set_pwm_frequency(const std::string& pin,
                                   uint64_t frequency_hz,
-                                  const AttributeMap& extra) {
+                                  const AttributeMap&) {
     this->peek_pin = pin;
     this->peek_set_pwm_frequency_hz = frequency_hz;
 }
@@ -60,30 +60,30 @@ AttributeMap MockBoard::do_command(const AttributeMap& command) {
 }
 
 Board::analog_value MockBoard::read_analog(const std::string& analog_reader_name,
-                                           const AttributeMap& extra) {
+                                           const AttributeMap&) {
     this->peek_analog_reader_name = analog_reader_name;
     return this->peek_read_analog_ret;
 }
 
-void MockBoard::write_analog(const std::string& pin, int value, const AttributeMap& extra) {
+void MockBoard::write_analog(const std::string& pin, int value, const AttributeMap&) {
     this->peek_pin = pin;
     this->peek_pin_value = value;
 }
 
 Board::digital_value MockBoard::read_digital_interrupt(const std::string& digital_interrupt_name,
-                                                       const AttributeMap& extra) {
+                                                       const AttributeMap&) {
     this->peek_digital_interrupt_name = digital_interrupt_name;
     return this->peek_read_digital_interrupt_ret;
 }
 
 void MockBoard::set_power_mode(power_mode power_mode,
-                               const AttributeMap& extra,
+                               const AttributeMap&,
                                const boost::optional<std::chrono::microseconds>& duration) {
     this->peek_set_power_mode_power_mode = power_mode;
     this->peek_set_power_mode_duration = duration;
 }
 
-std::vector<GeometryConfig> MockBoard::get_geometries(const sdk::AttributeMap& extra) {
+std::vector<GeometryConfig> MockBoard::get_geometries(const sdk::AttributeMap&) {
     return fake_geometries();
 }
 
diff --git a/src/viam/sdk/tests/mocks/mock_encoder.cpp b/src/viam/sdk/tests/mocks/mock_encoder.cpp
index 588c1d846..8b761af61 100644
--- a/src/viam/sdk/tests/mocks/mock_encoder.cpp
+++ b/src/viam/sdk/tests/mocks/mock_encoder.cpp
@@ -15,25 +15,24 @@ namespace encoder {
 
 using namespace viam::sdk;
 
-Encoder::position MockEncoder::get_position(const AttributeMap& extra,
-                                            position_type position_type) {
+Encoder::position MockEncoder::get_position(const AttributeMap&, position_type position_type) {
     this->peek_get_position_position_type = position_type;
     return this->peek_get_position_ret;
 };
 
-void MockEncoder::reset_position(const AttributeMap& extra) {
+void MockEncoder::reset_position(const AttributeMap&) {
     this->peek_reset_position_called = true;
 };
 
-Encoder::properties MockEncoder::get_properties(const AttributeMap& extra) {
+Encoder::properties MockEncoder::get_properties(const AttributeMap&) {
     return this->peek_get_properties_ret;
 };
 
-std::vector<GeometryConfig> MockEncoder::get_geometries(const sdk::AttributeMap& extra) {
+std::vector<GeometryConfig> MockEncoder::get_geometries(const sdk::AttributeMap&) {
     return fake_geometries();
 }
 
-AttributeMap MockEncoder::do_command(AttributeMap command) {
+AttributeMap MockEncoder::do_command(const AttributeMap& command) {
     return command;
 };
 
diff --git a/src/viam/sdk/tests/mocks/mock_encoder.hpp b/src/viam/sdk/tests/mocks/mock_encoder.hpp
index 447f81873..1aa85b67b 100644
--- a/src/viam/sdk/tests/mocks/mock_encoder.hpp
+++ b/src/viam/sdk/tests/mocks/mock_encoder.hpp
@@ -20,7 +20,7 @@ class MockEncoder : public viam::sdk::Encoder {
     void reset_position(const sdk::AttributeMap& extra) override;
     Encoder::properties get_properties(const sdk::AttributeMap& extra) override;
     std::vector<sdk::GeometryConfig> get_geometries(const sdk::AttributeMap& extra) override;
-    viam::sdk::AttributeMap do_command(viam::sdk::AttributeMap command) override;
+    viam::sdk::AttributeMap do_command(const viam::sdk::AttributeMap& command) override;
     static std::shared_ptr<MockEncoder> get_mock_encoder();
 
     MockEncoder(std::string name) : Encoder(std::move(name)){};
diff --git a/src/viam/sdk/tests/mocks/mock_motion.cpp b/src/viam/sdk/tests/mocks/mock_motion.cpp
index d617d6f1d..ee2bc45a5 100644
--- a/src/viam/sdk/tests/mocks/mock_motion.cpp
+++ b/src/viam/sdk/tests/mocks/mock_motion.cpp
@@ -18,7 +18,7 @@ bool MockMotion::move(const pose_in_frame& destination,
                       const Name& component_name,
                       const std::shared_ptr<WorldState>& world_state,
                       const std::shared_ptr<constraints>& constraints,
-                      const AttributeMap& extra) {
+                      const AttributeMap&) {
     this->current_location = destination;
     this->peek_component_name = component_name;
     this->peek_world_state = world_state;
@@ -31,7 +31,7 @@ std::string MockMotion::move_on_map(
     const Name& component_name,
     const Name& slam_name,
     const std::shared_ptr<motion_configuration>& motion_configuration,
-    const AttributeMap& extra) {
+    const AttributeMap&) {
     this->peek_current_pose = destination;
     this->peek_component_name = component_name;
     this->peek_slam_name = slam_name;
@@ -47,7 +47,7 @@ std::string MockMotion::move_on_globe(
     const Name& movement_sensor_name,
     const std::vector<geo_obstacle>& obstacles,
     const std::shared_ptr<motion_configuration>& motion_configuration,
-    const AttributeMap& extra) {
+    const AttributeMap&) {
     this->peek_heading = *heading;
     this->peek_component_name = component_name;
     this->peek_movement_sensor_name = movement_sensor_name;
@@ -58,49 +58,45 @@ std::string MockMotion::move_on_globe(
     return "execution-id";
 }
 
-pose_in_frame MockMotion::get_pose(
-    const Name& component_name,
-    const std::string& destination_frame,
-    const std::vector<WorldState::transform>& supplemental_transforms,
-    const AttributeMap& extra) {
+pose_in_frame MockMotion::get_pose(const Name&,
+                                   const std::string&,
+                                   const std::vector<WorldState::transform>&,
+                                   const AttributeMap&) {
     return current_location;
 }
 
-Motion::plan_with_status MockMotion::get_plan(const sdk::Name& component_name,
-                                              const std::string& execution_id,
-                                              const sdk::AttributeMap& extra) {
+Motion::plan_with_status MockMotion::get_plan(const sdk::Name&,
+                                              const std::string&,
+                                              const sdk::AttributeMap&) {
     return fake_plan_with_status();
 }
 
 std::pair<Motion::plan_with_status, std::vector<Motion::plan_with_status>>
-MockMotion::get_plan_with_replan_history(const sdk::Name& component_name,
-                                         const std::string& execution_id,
-                                         const sdk::AttributeMap& extra) {
+MockMotion::get_plan_with_replan_history(const sdk::Name&,
+                                         const std::string&,
+                                         const sdk::AttributeMap&) {
     return {fake_plan_with_status(), {fake_plan_with_status()}};
 }
 
-Motion::plan_with_status MockMotion::get_latest_plan(const sdk::Name& component_name,
-                                                     const sdk::AttributeMap& extra) {
+Motion::plan_with_status MockMotion::get_latest_plan(const sdk::Name&, const sdk::AttributeMap&) {
     return fake_plan_with_status();
 }
 
 std::pair<Motion::plan_with_status, std::vector<Motion::plan_with_status>>
-MockMotion::get_latest_plan_with_replan_history(const sdk::Name& component_name,
-                                                const sdk::AttributeMap& extra) {
+MockMotion::get_latest_plan_with_replan_history(const sdk::Name&, const sdk::AttributeMap&) {
     return {fake_plan_with_status(), {fake_plan_with_status()}};
 }
 
 std::vector<Motion::plan_status_with_id> MockMotion::list_active_plan_statuses(
-    const sdk::AttributeMap& extra) {
+    const sdk::AttributeMap&) {
     return {fake_plan_status_with_id()};
 }
 
-std::vector<Motion::plan_status_with_id> MockMotion::list_plan_statuses(
-    const sdk::AttributeMap& extra) {
+std::vector<Motion::plan_status_with_id> MockMotion::list_plan_statuses(const sdk::AttributeMap&) {
     return {fake_plan_status_with_id()};
 }
 
-void MockMotion::stop_plan(const sdk::Name& name, const sdk::AttributeMap& extra) {
+void MockMotion::stop_plan(const sdk::Name&, const sdk::AttributeMap&) {
     this->peek_stop_plan_called = true;
 }
 
diff --git a/src/viam/sdk/tests/mocks/mock_motor.cpp b/src/viam/sdk/tests/mocks/mock_motor.cpp
index 670639635..0bf6ff637 100644
--- a/src/viam/sdk/tests/mocks/mock_motor.cpp
+++ b/src/viam/sdk/tests/mocks/mock_motor.cpp
@@ -19,12 +19,12 @@ namespace motor {
 
 using namespace viam::sdk;
 
-void MockMotor::set_power(double power_pct, const AttributeMap& extra) {
+void MockMotor::set_power(double power_pct, const AttributeMap&) {
     power_status_.is_on = power_pct != 0.0;
     power_status_.power_pct = power_pct;
 }
 
-void MockMotor::go_for(double rpm, double revolutions, const AttributeMap& extra) {
+void MockMotor::go_for(double rpm, double revolutions, const AttributeMap&) {
     // This is the actual behavior from rdk:builtin:fake_motor
     if (rpm == 0.0) {
         throw Exception("Cannot move motor at 0 RPM");
@@ -32,34 +32,34 @@ void MockMotor::go_for(double rpm, double revolutions, const AttributeMap& extra
     position_ += revolutions;
 }
 
-void MockMotor::go_to(double rpm, double position_revolutions, const AttributeMap& extra) {
+void MockMotor::go_to(double rpm, double position_revolutions, const AttributeMap&) {
     position_ = position_revolutions;
 }
 
-void MockMotor::reset_zero_position(double offset, const AttributeMap& extra) {
+void MockMotor::reset_zero_position(double offset, const AttributeMap&) {
     position_ -= offset;
 }
 
-Motor::position MockMotor::get_position(const AttributeMap& extra) {
+Motor::position MockMotor::get_position(const AttributeMap&) {
     return position_;
 }
 
-Motor::properties MockMotor::get_properties(const AttributeMap& extra) {
+Motor::properties MockMotor::get_properties(const AttributeMap&) {
     return properties_;
 }
 
-void MockMotor::stop(const AttributeMap& extra) {
+void MockMotor::stop(const AttributeMap&) {
     // None of these functions are async and this mock is not
     // thread-safe (Send, not Sync). The mock motor should never be
     // moving when this is called
     set_power(0.0);
 }
 
-Motor::power_status MockMotor::get_power_status(const AttributeMap& extra) {
+Motor::power_status MockMotor::get_power_status(const AttributeMap&) {
     return power_status_;
 }
 
-std::vector<GeometryConfig> MockMotor::get_geometries(const sdk::AttributeMap& extra) {
+std::vector<GeometryConfig> MockMotor::get_geometries(const sdk::AttributeMap&) {
     return fake_geometries();
 }
 
@@ -69,7 +69,7 @@ bool MockMotor::is_moving() {
     return false;
 }
 
-AttributeMap MockMotor::do_command(const AttributeMap& _command) {
+AttributeMap MockMotor::do_command(const AttributeMap&) {
     return map_;
 }
 
diff --git a/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp b/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp
index c8dbc8050..efaf77327 100644
--- a/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp
+++ b/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp
@@ -14,35 +14,35 @@ namespace movementsensor {
 
 using namespace viam::sdk;
 
-Vector3 MockMovementSensor::get_linear_velocity(const AttributeMap& extra) {
+Vector3 MockMovementSensor::get_linear_velocity(const AttributeMap&) {
     return this->peek_return_vec;
 };
-Vector3 MockMovementSensor::get_angular_velocity(const AttributeMap& extra) {
+Vector3 MockMovementSensor::get_angular_velocity(const AttributeMap&) {
     return this->peek_return_vec;
 };
-MovementSensor::compassheading MockMovementSensor::get_compass_heading(const AttributeMap& extra) {
+MovementSensor::compassheading MockMovementSensor::get_compass_heading(const AttributeMap&) {
     return this->peek_compass_heading;
 };
-MovementSensor::orientation MockMovementSensor::get_orientation(const AttributeMap& extra) {
+MovementSensor::orientation MockMovementSensor::get_orientation(const AttributeMap&) {
     return this->peek_orientation;
 };
-MovementSensor::position MockMovementSensor::get_position(const AttributeMap& extra) {
+MovementSensor::position MockMovementSensor::get_position(const AttributeMap&) {
     return this->peek_position;
 };
-MovementSensor::properties MockMovementSensor::get_properties(const AttributeMap& extra) {
+MovementSensor::properties MockMovementSensor::get_properties(const AttributeMap&) {
     return this->peek_properties;
 };
-std::unordered_map<std::string, float> MockMovementSensor::get_accuracy(const AttributeMap& extra) {
+std::unordered_map<std::string, float> MockMovementSensor::get_accuracy(const AttributeMap&) {
     return this->peek_accuracy;
 };
-Vector3 MockMovementSensor::get_linear_acceleration(const AttributeMap& extra) {
+Vector3 MockMovementSensor::get_linear_acceleration(const AttributeMap&) {
     return this->peek_return_vec;
 };
 AttributeMap MockMovementSensor::do_command(const AttributeMap& command) {
     this->peek_do_command_command = command;
     return command;
 };
-std::vector<sdk::GeometryConfig> MockMovementSensor::get_geometries(const AttributeMap& extra) {
+std::vector<sdk::GeometryConfig> MockMovementSensor::get_geometries(const AttributeMap&) {
     return fake_geometries();
 };
 
diff --git a/src/viam/sdk/tests/mocks/mock_power_sensor.cpp b/src/viam/sdk/tests/mocks/mock_power_sensor.cpp
index a370e2c81..f022f70e9 100644
--- a/src/viam/sdk/tests/mocks/mock_power_sensor.cpp
+++ b/src/viam/sdk/tests/mocks/mock_power_sensor.cpp
@@ -14,16 +14,16 @@ namespace powersensor {
 
 using namespace viam::sdk;
 
-PowerSensor::voltage MockPowerSensor::get_voltage(const AttributeMap& extra) {
+PowerSensor::voltage MockPowerSensor::get_voltage(const AttributeMap&) {
     return this->peek_voltage;
 };
-PowerSensor::current MockPowerSensor::get_current(const AttributeMap& extra) {
+PowerSensor::current MockPowerSensor::get_current(const AttributeMap&) {
     return this->peek_current;
 };
-double MockPowerSensor::get_power(const AttributeMap& extra) {
+double MockPowerSensor::get_power(const AttributeMap&) {
     return this->peek_power;
 };
-AttributeMap MockPowerSensor::get_readings(const AttributeMap& extra) {
+AttributeMap MockPowerSensor::get_readings(const AttributeMap&) {
     return fake_map();
 };
 AttributeMap MockPowerSensor::do_command(const AttributeMap& command) {
diff --git a/src/viam/sdk/tests/mocks/mock_robot.cpp b/src/viam/sdk/tests/mocks/mock_robot.cpp
index 22af020a1..db4a384a2 100644
--- a/src/viam/sdk/tests/mocks/mock_robot.cpp
+++ b/src/viam/sdk/tests/mocks/mock_robot.cpp
@@ -265,8 +265,8 @@ std::vector<FrameSystemConfig> mock_proto_config_response() {
 }
 
 ::grpc::Status MockRobotService::FrameSystemConfig(
-    ::grpc::ServerContext* context,
-    const ::viam::robot::v1::FrameSystemConfigRequest* request,
+    ::grpc::ServerContext*,
+    const ::viam::robot::v1::FrameSystemConfigRequest*,
     ::viam::robot::v1::FrameSystemConfigResponse* response) {
     auto* configs = response->mutable_frame_system_configs();
     for (const auto& c : mock_proto_config_response()) {
@@ -276,8 +276,8 @@ ::grpc::Status MockRobotService::FrameSystemConfig(
 }
 
 ::grpc::Status MockRobotService::DiscoverComponents(
-    ::grpc::ServerContext* context,
-    const ::viam::robot::v1::DiscoverComponentsRequest* request,
+    ::grpc::ServerContext*,
+    const ::viam::robot::v1::DiscoverComponentsRequest*,
     ::viam::robot::v1::DiscoverComponentsResponse* response) {
     auto* discovery = response->mutable_discovery();
     for (auto& d : mock_proto_discovery_response()) {
@@ -286,18 +286,16 @@ ::grpc::Status MockRobotService::DiscoverComponents(
     return ::grpc::Status();
 }
 
-::grpc::Status MockRobotService::TransformPose(
-    ::grpc::ServerContext* context,
-    const ::viam::robot::v1::TransformPoseRequest* request,
-    ::viam::robot::v1::TransformPoseResponse* response) {
+::grpc::Status MockRobotService::TransformPose(::grpc::ServerContext*,
+                                               const ::viam::robot::v1::TransformPoseRequest*,
+                                               ::viam::robot::v1::TransformPoseResponse* response) {
     *response->mutable_pose() = mock_proto_transform_response();
     return ::grpc::Status();
 }
 
-::grpc::Status MockRobotService::GetOperations(
-    ::grpc::ServerContext* context,
-    const ::viam::robot::v1::GetOperationsRequest* request,
-    ::viam::robot::v1::GetOperationsResponse* response) {
+::grpc::Status MockRobotService::GetOperations(::grpc::ServerContext*,
+                                               const ::viam::robot::v1::GetOperationsRequest*,
+                                               ::viam::robot::v1::GetOperationsResponse* response) {
     auto* ops = response->mutable_operations();
     for (auto& op : mock_proto_operations_response()) {
         *ops->Add() = op;
diff --git a/src/viam/sdk/tests/mocks/mock_sensor.cpp b/src/viam/sdk/tests/mocks/mock_sensor.cpp
index c93e055e0..dd86540d0 100644
--- a/src/viam/sdk/tests/mocks/mock_sensor.cpp
+++ b/src/viam/sdk/tests/mocks/mock_sensor.cpp
@@ -14,13 +14,13 @@ namespace sensor {
 
 using namespace viam::sdk;
 
-AttributeMap MockSensor::get_readings(const AttributeMap& extra) {
+AttributeMap MockSensor::get_readings(const AttributeMap&) {
     return fake_map();
 };
 AttributeMap MockSensor::do_command(const AttributeMap& command) {
     return command;
 };
-std::vector<sdk::GeometryConfig> MockSensor::get_geometries(const AttributeMap& extra) {
+std::vector<sdk::GeometryConfig> MockSensor::get_geometries(const AttributeMap&) {
     return fake_geometries();
 };
 
diff --git a/src/viam/sdk/tests/mocks/mock_servo.cpp b/src/viam/sdk/tests/mocks/mock_servo.cpp
index ffeea6648..4a63c0b5a 100644
--- a/src/viam/sdk/tests/mocks/mock_servo.cpp
+++ b/src/viam/sdk/tests/mocks/mock_servo.cpp
@@ -18,20 +18,20 @@ namespace servo {
 
 using namespace viam::sdk;
 
-void MockServo::move(uint32_t angle_deg, const AttributeMap& extra) {
+void MockServo::move(uint32_t angle_deg, const AttributeMap&) {
     is_moving_ = true;
     position_ = angle_deg;
 }
 
-Servo::position MockServo::get_position(const AttributeMap& extra) {
+Servo::position MockServo::get_position(const AttributeMap&) {
     return position_;
 }
 
-void MockServo::stop(const AttributeMap& extra) {
+void MockServo::stop(const AttributeMap&) {
     is_moving_ = false;
 }
 
-std::vector<GeometryConfig> MockServo::get_geometries(const sdk::AttributeMap& extra) {
+std::vector<GeometryConfig> MockServo::get_geometries(const sdk::AttributeMap&) {
     return fake_geometries();
 }
 
@@ -39,7 +39,7 @@ bool MockServo::is_moving() {
     return is_moving_;
 }
 
-AttributeMap MockServo::do_command(const AttributeMap& _command) {
+AttributeMap MockServo::do_command(const AttributeMap&) {
     return map_;
 }