diff --git a/src/commande-new.cpp b/src/commande-new.cpp
deleted file mode 100644
index f84b743..0000000
--- a/src/commande-new.cpp
+++ /dev/null
@@ -1,211 +0,0 @@
-#include <ros/ros.h>
-#include <ros/time.h>
-#include <locale.h>
-#include <limits>
-#include <math.h>
-
-#include <pcl_ros/point_cloud.h>
-#include <pcl/point_types.h>
-
-#include <hand_control/Plan.h>
-#include <geometry_msgs/Twist.h>
-#include <math.h>
-
-class Run
-{
-  private:
-    float xx, yy, dz;
-
-    // xx > 0 : forward
-    // xx < 0 : backward
-
-    // yy > 0 : right
-    // yy < 0 : left
-
-    // dz > 0 : up
-    // dz < 0 : down
-
-    float plan_vel, z_vel;
-
-    // to calculate dz
-    float z_current, z_previous;
-    ros::Time t_current, t_previous;
-
-    // conditions to publish a message
-    float max_curv;
-    float dz_min, x_dev_min, y_dev_min;
-    uint64_t min_number;
-
-    bool first_msg;
-
-    ros::Publisher pub;
-
-    void publish()
-    {
-      geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
-      if (fabs(dz) > dz_min)
-      {
-        mvt->linear.z = dz * z_vel;
-      }
-      if (fabs(xx) > x_dev_min)
-      {
-        mvt->linear.x = xx * plan_vel;
-      }
-      if (fabs(yy) > y_dev_min)
-      {
-        mvt->linear.y = yy * plan_vel;
-      }
-      pub.publish(mvt);
-      ROS_INFO("cmd published");
-    }//end publish
-
-  public:
-    Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity,
-        const float& z_velocity, const float& x_minimal_deviation, const float& y_minimal_deviation,
-        const float& dz_minimal_difference, const int& min_points_number) :
-      pub(cmd_publisher),
-      plan_vel(plan_velocity),
-      max_curv(max_curvature),
-      z_vel(z_velocity),
-      xx(0),
-      yy(0),
-      dz(0),
-      x_dev_min(x_minimal_deviation),
-      y_dev_min(y_minimal_deviation),
-      dz_min(dz_minimal_difference),
-      first_msg(true),
-      min_number(min_points_number){
-        z_current = z_previous =  std::numeric_limits<float>::signaling_NaN();
-        t_previous.nsec = t_previous.sec =
-          t_previous.nsec = t_previous.sec = std::numeric_limits<uint32_t>::signaling_NaN();
-      }
-
-    void callback(const hand_control::Plan::ConstPtr& msg)
-    {
-      ROS_INFO("plan received");
-      if (msg->curvature < max_curv && msg->number > min_number)
-      {
-        t_current = msg->header.stamp;
-        z_current = msg->altitude;
-
-        if (!first_msg)
-        {
-          dz = (z_current - z_previous)/((t_current - t_previous).toSec());
-          ROS_INFO("dz = %f", dz);
-        }
-        
-        if(msg->normal.z > 0)
-        {
-          yy = msg->normal.x;
-          xx = msg->normal.y;
-        }
-        else
-        {
-          yy = - msg->normal.x;
-          xx = - msg->normal.y;
-        }
-
-        t_previous = t_current;
-        z_previous = z_current;
-        z_current = std::numeric_limits<float>::signaling_NaN();
-        t_current.nsec = t_current.sec = std::numeric_limits<uint32_t>::signaling_NaN();
-        if (first_msg)
-        {
-          first_msg = false;
-          ROS_INFO("first msg received");
-        }
-        ROS_INFO("coords updated");
-      } else {
-        xx = yy = dz = 0.;
-      }
-      publish();
-    };
-
-    void run()
-    {
-        ros::spin();
-    }
-
-};
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "commande");
-  ros::NodeHandle node("commande");
-
-  double max_curv(0);
-  if (node.getParam("max_curv", max_curv))
-  {
-    ROS_INFO("max_curv : %f" , max_curv);
-  } else {
-    node.setParam("max_curv", 0.08);
-    node.getParam("max_curv", max_curv);
-    ROS_INFO("max_curv : %f (default value)", max_curv);
-  }
-
-  double plan_vel(0);
-  if (node.getParam("plan_vel", plan_vel))
-  {
-    ROS_INFO("plan_vel : %f" , plan_vel);
-  } else {
-    node.setParam("plan_vel", 0.8);
-    node.getParam("plan_vel", plan_vel);
-    ROS_INFO("plan_vel : %f (default value)", plan_vel);
-  }
-
-  double z_vel(0);
-  if (node.getParam("z_vel", z_vel))
-  {
-    ROS_INFO("z_vel : %f" , z_vel);
-  } else {
-    node.setParam("z_vel", 0.8);
-    node.getParam("z_vel", z_vel);
-    ROS_INFO("z_vel : %f (default value)", z_vel);
-  }
-
-  int min_number(0);
-  if (node.getParam("min_number", min_number))
-  {
-    ROS_INFO("min_number : %d" , min_number);
-  } else {
-    node.setParam("min_number", 500);
-    node.getParam("min_number", min_number);
-    ROS_INFO("min_number : %d (default value)", min_number);
-  }
-
-  double x_dev_min(0);
-  if (node.getParam("x_dev_min", x_dev_min))
-  {
-    ROS_INFO("x_dev_min : %f" , x_dev_min);
-  } else {
-    node.setParam("x_dev_min", 0.05);
-    node.getParam("x_dev_min", x_dev_min);
-    ROS_INFO("x_dev_min : %f (default value)", x_dev_min);
-  }
-
-  double y_dev_min(0);
-  if (node.getParam("y_dev_min", y_dev_min))
-  {
-    ROS_INFO("y_dev_min : %f" , y_dev_min);
-  } else {
-    node.setParam("y_dev_min", 0.05);
-    node.getParam("y_dev_min", y_dev_min);
-    ROS_INFO("y_dev_min : %f (default value)", y_dev_min);
-  }
-
-  double dz_dev_min(0);
-  if (node.getParam("dz_dev_min", dz_dev_min))
-  {
-    ROS_INFO("dz_dev_min : %f" , dz_dev_min);
-  } else {
-    node.setParam("dz_dev_min", 0.05);
-    node.getParam("dz_dev_min", dz_dev_min);
-    ROS_INFO("dz_dev_min : %f (default value)", dz_dev_min);
-  }
-
-  ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
-  Run run(cmd_pub, max_curv, plan_vel, z_vel, x_dev_min, y_dev_min, dz_dev_min, min_number);
-  ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
-  run.run();
-  return 0;
-}
diff --git a/src/commande.cpp b/src/commande.cpp
deleted file mode 100644
index 4c78655..0000000
--- a/src/commande.cpp
+++ /dev/null
@@ -1,220 +0,0 @@
-#include <ros/ros.h>
-#include <ros/time.h>
-#include <locale.h>
-#include <limits>
-#include <math.h>
-
-#include <pcl_ros/point_cloud.h>
-#include <pcl/point_types.h>
-
-#include <hand_control/Plan.h>
-#include <geometry_msgs/Twist.h>
-#include <math.h>
-
-class Run
-{
-  private:
-
-    ros::Rate loop_rate;
-
-    float xx, yy, dz;
-
-    // xx > 0 : forward
-    // xx < 0 : backward
-
-    // yy > 0 : right
-    // yy < 0 : left
-
-    // dz > 0 : up
-    // dz < 0 : down
-
-    float plan_vel, z_vel;
-
-    // to calculate dz
-    float z_current, z_previous;
-    ros::Time t_current, t_previous;
-
-    // conditions to publish a message
-    float max_curv;
-    float dz_min, x_dev_min, y_dev_min;
-    uint64_t min_number;
-
-    bool first_msg;
-
-    ros::Publisher pub;
-
-    void publish()
-    {
-      geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
-      if (fabs(dz) > dz_min)
-      {
-        mvt->linear.z = dz * z_vel;
-        ROS_INFO("z changed : %f, z_vel %f", mvt->linear.z, z_vel);
-      }
-      if (fabs(xx) > x_dev_min)
-      {
-        mvt->linear.x = xx * plan_vel;
-      }
-      if (fabs(yy) > y_dev_min)
-      {
-        mvt->linear.y = yy * plan_vel;
-      }
-      pub.publish(mvt);
-      ROS_INFO("cmd published");
-    }//end publish
-
-  public:
-    Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity,
-        const float& z_velocity, const float& x_minimal_deviation, const float& y_minimal_deviation,
-        const float& dz_minimal_difference, const int& min_points_number) :
-      pub(cmd_publisher),
-      plan_vel(plan_velocity),
-      max_curv(max_curvature),
-      z_vel(z_velocity),
-      xx(0),
-      yy(0),
-      dz(0),
-      x_dev_min(x_minimal_deviation),
-      y_dev_min(y_minimal_deviation),
-      dz_min(dz_minimal_difference),
-      first_msg(true),
-      loop_rate(30),
-      min_number(min_points_number){
-        z_current = z_previous =  std::numeric_limits<float>::signaling_NaN();
-        t_previous.nsec = t_previous.sec =
-          t_previous.nsec = t_previous.sec = std::numeric_limits<uint32_t>::signaling_NaN();
-      }
-
-    void callback(const hand_control::Plan::ConstPtr& msg)
-    {
-      ROS_INFO("plan received");
-      if (msg->curvature < max_curv && msg->number > min_number)
-      {
-        t_current = msg->header.stamp;
-        z_current = msg->altitude;
-
-        if (!first_msg)
-        {
-          dz = (z_current - z_previous)/((t_current - t_previous).toSec());
-          ROS_INFO("dz = %f", dz);
-        }
-        
-        if(msg->normal.z > 0)
-        {
-          yy = msg->normal.x;
-          xx = msg->normal.y;
-        }
-        else
-        {
-          yy = - msg->normal.x;
-          xx = - msg->normal.y;
-        }
-
-        t_previous = t_current;
-        z_previous = z_current;
-        z_current = std::numeric_limits<float>::signaling_NaN();
-        t_current.nsec = t_current.sec = std::numeric_limits<uint32_t>::signaling_NaN();
-        if (first_msg)
-        {
-          first_msg = false;
-          ROS_INFO("first msg received");
-        }
-        ROS_INFO("coords updated");
-      } else {
-        xx = yy = dz = 0.;
-      }
-    };
-
-    void run()
-    {
-      while(ros::ok())
-      {
-        publish();
-        ros::spinOnce();
-        loop_rate.sleep();
-      }
-    }
-
-};
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "commande");
-  ros::NodeHandle node("commande");
-
-  double max_curv(0);
-  if (node.getParam("max_curv", max_curv))
-  {
-    ROS_INFO("max_curv : %f" , max_curv);
-  } else {
-    node.setParam("max_curv", 0.08);
-    node.getParam("max_curv", max_curv);
-    ROS_INFO("max_curv : %f (default value)", max_curv);
-  }
-
-  double plan_vel(0);
-  if (node.getParam("plan_vel", plan_vel))
-  {
-    ROS_INFO("plan_vel : %f" , plan_vel);
-  } else {
-    node.setParam("plan_vel", 0.8);
-    node.getParam("plan_vel", plan_vel);
-    ROS_INFO("plan_vel : %f (default value)", plan_vel);
-  }
-
-  double z_vel(0);
-  if (node.getParam("z_vel", z_vel))
-  {
-    ROS_INFO("z_vel : %f" , z_vel);
-  } else {
-    node.setParam("z_vel", 0.8);
-    node.getParam("z_vel", z_vel);
-    ROS_INFO("z_vel : %f (default value)", z_vel);
-  }
-
-  int min_number(0);
-  if (node.getParam("min_number", min_number))
-  {
-    ROS_INFO("min_number : %d" , min_number);
-  } else {
-    node.setParam("min_number", 500);
-    node.getParam("min_number", min_number);
-    ROS_INFO("min_number : %d (default value)", min_number);
-  }
-
-  double x_dev_min(0);
-  if (node.getParam("x_dev_min", x_dev_min))
-  {
-    ROS_INFO("x_dev_min : %f" , x_dev_min);
-  } else {
-    node.setParam("x_dev_min", 0.05);
-    node.getParam("x_dev_min", x_dev_min);
-    ROS_INFO("x_dev_min : %f (default value)", x_dev_min);
-  }
-
-  double y_dev_min(0);
-  if (node.getParam("y_dev_min", y_dev_min))
-  {
-    ROS_INFO("y_dev_min : %f" , y_dev_min);
-  } else {
-    node.setParam("y_dev_min", 0.05);
-    node.getParam("y_dev_min", y_dev_min);
-    ROS_INFO("y_dev_min : %f (default value)", y_dev_min);
-  }
-
-  double dz_dev_min(0);
-  if (node.getParam("dz_dev_min", dz_dev_min))
-  {
-    ROS_INFO("dz_dev_min : %f" , dz_dev_min);
-  } else {
-    node.setParam("dz_dev_min", 0.05);
-    node.getParam("dz_dev_min", dz_dev_min);
-    ROS_INFO("dz_dev_min : %f (default value)", dz_dev_min);
-  }
-
-  ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
-  Run run(cmd_pub, max_curv, plan_vel, z_vel, x_dev_min, y_dev_min, dz_dev_min, min_number);
-  ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
-  run.run();
-  return 0;
-}