diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
index 600ccc84f2..eff16149ea 100644
--- a/src/rendering/RenderUtil.cc
+++ b/src/rendering/RenderUtil.cc
@@ -1875,7 +1875,8 @@ void RenderUtilPrivate::RemoveSensor(const Entity _entity)
   auto sensorEntityIt = this->sensorEntities.find(_entity);
   if (sensorEntityIt != this->sensorEntities.end())
   {
-    this->removeSensorCb(_entity);
+    if (this->removeSensorCb)
+      this->removeSensorCb(_entity);
     this->sensorEntities.erase(sensorEntityIt);
   }
 }
diff --git a/src/systems/diff_drive/DiffDrive.cc b/src/systems/diff_drive/DiffDrive.cc
index 25aa51e381..27226d01af 100644
--- a/src/systems/diff_drive/DiffDrive.cc
+++ b/src/systems/diff_drive/DiffDrive.cc
@@ -509,8 +509,7 @@ void DiffDrivePrivate::UpdateOdometry(const ignition::gazebo::UpdateInfo &_info,
 
   // Construct the Pose_V/tf message and publish it.
   msgs::Pose_V tfMsg;
-  ignition::msgs::Pose *tfMsgPose = nullptr;
-  tfMsgPose = tfMsg.add_pose();
+  ignition::msgs::Pose *tfMsgPose = tfMsg.add_pose();
   tfMsgPose->mutable_header()->CopyFrom(*msg.mutable_header());
   tfMsgPose->mutable_position()->CopyFrom(msg.mutable_pose()->position());
   tfMsgPose->mutable_orientation()->CopyFrom(msg.mutable_pose()->orientation());
diff --git a/test/integration/diff_drive_system.cc b/test/integration/diff_drive_system.cc
index 20df077115..2a91cba74a 100644
--- a/test/integration/diff_drive_system.cc
+++ b/test/integration/diff_drive_system.cc
@@ -440,6 +440,7 @@ TEST_P(DiffDriveTest, OdomCustomFrameId)
 
   int sleep = 0;
   int maxSleep = 30;
+  // cppcheck-suppress knownConditionTrueFalse
   for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep)
   {
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
@@ -499,6 +500,7 @@ TEST_P(DiffDriveTest, Pose_VFrameId)
 
   int sleep = 0;
   int maxSleep = 30;
+  // cppcheck-suppress knownConditionTrueFalse
   for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep)
   {
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
@@ -558,6 +560,7 @@ TEST_P(DiffDriveTest, Pose_VCustomFrameId)
 
   int sleep = 0;
   int maxSleep = 30;
+  // cppcheck-suppress knownConditionTrueFalse
   for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep)
   {
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
diff --git a/test/integration/odometry_publisher.cc b/test/integration/odometry_publisher.cc
index 248f33e18d..1488dbd14e 100644
--- a/test/integration/odometry_publisher.cc
+++ b/test/integration/odometry_publisher.cc
@@ -260,6 +260,7 @@ class OdometryPublisherTest : public ::testing::TestWithParam<int>
 
     int sleep = 0;
     int maxSleep = 30;
+    // cppcheck-suppress knownConditionTrueFalse
     for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep)
     {
       std::this_thread::sleep_for(std::chrono::milliseconds(100));
diff --git a/test/integration/optical_tactile_plugin.cc b/test/integration/optical_tactile_plugin.cc
index ea6ec02e85..45ac53609c 100644
--- a/test/integration/optical_tactile_plugin.cc
+++ b/test/integration/optical_tactile_plugin.cc
@@ -161,6 +161,7 @@ TEST_F(OpticalTactilePluginTest,
 
   // Give some time for messages to propagate
   sleep = 0;
+  // cppcheck-suppress knownConditionTrueFalse
   while (!receivedMsg && sleep < maxSleep)
   {
     std::this_thread::sleep_for(std::chrono::milliseconds(100));