diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5c71804..3b00e54 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,6 +51,10 @@ target_link_libraries(keyboard_cmd display ${catkin_LIBRARIES} ${ncursesw_LIBRAR
 
   add_executable(normal_estimator src/normal_estimator.cpp)
 target_link_libraries(normal_estimator ${catkin_LIBRARIES})
+add_dependencies(normal_estimator hand_control_generate_messages_cpp)
+
+  add_executable(normal_estimator src/normal_estimator_pca.cpp)
+target_link_libraries(normal_estimator ${catkin_LIBRARIES})
 add_dependencies(normal_estimator hand_control_generate_messages_cpp)
 
   add_executable(commande-new-1d src/commande-new-1d.cpp)