diff --git a/CMakeLists.txt b/CMakeLists.txt
index 387a761..a89c12e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,15 +52,12 @@ target_link_libraries(keyboard_cmd display ${catkin_LIBRARIES} ${ncursesw_LIBRAR
 target_link_libraries(normal_estimator ${catkin_LIBRARIES})
 add_dependencies(normal_estimator hand_control_generate_messages_cpp)
 
-  add_executable(commande src/commande.cpp)
-target_link_libraries(commande ${catkin_LIBRARIES})
-
-  add_executable(commande-new src/commande-new.cpp)
-target_link_libraries(commande-new ${catkin_LIBRARIES})
-
   add_executable(commande-new-1d src/commande-new-1d.cpp)
 target_link_libraries(commande-new-1d ${catkin_LIBRARIES})
 
+  add_executable(commande-abs src/commande-abs.cpp)
+target_link_libraries(commande-abs ${catkin_LIBRARIES})
+
 #add dynamic reconfigure api
   generate_dynamic_reconfigure_options(
                                        cfg/Filtre.cfg