diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7fbe2d6..9dcede5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
   std_msgs
   geometry_msgs
   message_generation
+  ardrone_autonomy
 )
 find_package(
   PkgConfig REQUIRED
@@ -30,7 +31,7 @@ catkin_package()
 
 include_directories(
   ${catkin_INCLUDE_DIRS}
-  ${CURSESW_INCLUDE_DIRS}
+  ${ncursesw_INCLUDE_DIRS}
 )
 
 add_executable(filtre src/filtre.cpp)
diff --git a/src/keyboard_cmd.cpp b/src/keyboard_cmd.cpp
index f151fff..4a35a37 100644
--- a/src/keyboard_cmd.cpp
+++ b/src/keyboard_cmd.cpp
@@ -17,7 +17,7 @@ class Callback
     Callback(const boost::shared_ptr<Curses>& terminal) :
       term(terminal) {}
 
-    void operator()(const ardrone_autonomy::Navdata::ConstPtr msg) {
+    void operator()(const ardrone_autonomy::Navdata::ConstPtr& msg) {
       term->update_navdata(msg->batteryPercent, msg->state, msg->tm);
     }
 }; // class Callback
@@ -240,7 +240,6 @@ int main(int argc, char** argv)
 {
   setlocale(LC_ALL, "");
   ros::init(argc, argv, "keyboard_cmd");
-  //ros::Subscriber ... (navdata)
   boost::shared_ptr<Curses> term(new Curses());
   Run fun(term);
   fun();