diff --git a/src/commander_atan.cpp b/src/commander_atan.cpp
deleted file mode 100644
index 456c1d7..0000000
--- a/src/commander_atan.cpp
+++ /dev/null
@@ -1,187 +0,0 @@
-// this code doesn’t work
-// :-(
-#include <ros/ros.h>
-#include <ros/time.h>
-#include <locale.h>
-#include <limits>
-#include <math.h>
-#include <assert.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>
-
-#include <dynamic_reconfigure/server.h>
-#include <hand_control/Commander_atanConfig.h>
-#include "data.h"
-
-class Run
-{
-  private:
-
-    enum FType { f_lin, f_atan, f_undef };
-
-    class Function
-    {
-      private:
-        virtual void set_grad(const float& grad) = 0;
-      protected:
-        float min, max;
-        FType type;
-      public:
-        Function() : min(0.1f), max(0.8f) {}
-        virtual float f(const float& arg) = 0;
-        void set(const float& minimum, const float& maximum, const float& grad)
-        {
-          min = minimum;
-          max = maximum;
-          set_grad(grad);
-        }
-        FType get_type() { return type; }
-    };
-
-    class Atan : public Function
-    {
-      private:
-        static const float demi_pi;
-        float t;
-        virtual void set_grad(const float& grad)
-        {
-          t = grad*demi_pi/max;
-        }
-      public:
-        Atan() :t(demi_pi) { type = f_atan; }
-        virtual float f(const float& arg)
-        {
-          float out = max * atan(t * arg) / demi_pi;
-          if (fabs(out) > min)
-            return out;
-          else
-            return 0.;
-        }
-    };
-
-    class Lin : public Function
-    {
-      private:
-        float t;
-        virtual void set_grad(const float& grad)
-        {
-          t = grad;
-        }
-      public:
-        Lin() { type = f_lin; }
-        virtual float f(const float& arg)
-        {
-          float out = std::min(t * arg, max);
-          if (fabs(out) > min)
-            return out;
-          else
-            return 0.;
-        }
-    };
-
-    Data<boost::shared_ptr<Function> > f;
-    float neutral_z;
-    float max_curv;
-    uint64_t min_number;
-    ros::Publisher pub;
-
-  public:
-    Run(const ros::Publisher& cmd_publisher) :
-      pub(cmd_publisher) {
-        f.x = boost::make_shared<Lin>();
-        f.y = boost::make_shared<Lin>();
-        f.z = boost::make_shared<Lin>();
-        f.th = boost::make_shared<Lin>();
-      }
-
-    void callback(const hand_control::Plan::ConstPtr& msg)
-    {
-      ROS_INFO("plan received");
-      Data<float> in, out;
-      in.x = in.y = in.z = in.th = 0.;
-      if (msg->curvature < max_curv && msg->number > min_number)
-      {
-        if(msg->normal.z > 0)
-        {
-          in.y = - msg->normal.x;
-          in.x = msg->normal.y;
-        } else
-        {
-          in.y = - msg->normal.x;
-          in.x = msg->normal.y;
-        }
-        in.z = msg->altitude - neutral_z;
-        in.th = msg->angle;
-      }
-
-      geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
-
-      if (fabs(in.y) > fabs(in.x))
-      {
-        mvt->linear.y =  f.y->f(in.y);
-      } else
-      {
-        mvt->linear.x = f.x->f(in.x);
-      }
-
-      mvt->linear.z = f.z->f(in.z);
-
-      mvt->angular.z = f.th->f(in.th);
-
-      pub.publish(mvt);
-      ROS_INFO("cmd published");
-    }
-
-    void reconfigure(const hand_control::Commander_atanConfig& c, const uint32_t& level)
-    {
-      max_curv = c.max_curvature;
-      neutral_z = c.neutral_alt;
-      min_number = c.min_points_number;
-
-      if (c.atan and f.x->get_type() != f_atan)
-      {
-        f.x = boost::make_shared<Atan>();
-        f.y = boost::make_shared<Atan>();
-        f.z = boost::make_shared<Atan>();
-        f.th = boost::make_shared<Atan>();
-      } else if (!c.atan and f.x->get_type() == f_atan)
-      {
-        f.x = boost::make_shared<Lin>();
-        f.y = boost::make_shared<Lin>();
-        f.z = boost::make_shared<Lin>();
-        f.th = boost::make_shared<Lin>();
-      }
-      f.x->set(c.x_min, c.x_max, c.x_p);
-      f.y->set(c.y_min, c.y_max, c.y_p);
-      f.z->set(c.z_min, c.z_max, c.z_p);
-      f.th->set(c.th_min, c.th_max, c.th_p);
-      ROS_INFO("parameters reconfigured");
-    }  
-
-};
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "commander_atan");
-  ros::NodeHandle node("commander_atan");
-
-  ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
-  Run run(cmd_pub);
-  ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
-
-  dynamic_reconfigure::Server<hand_control::Commander_atanConfig> server;
-  dynamic_reconfigure::Server<hand_control::Commander_atanConfig>::CallbackType f;
-  f = boost::bind(&Run::reconfigure, &run, _1, _2);
-  server.setCallback(f);
-
-  ROS_INFO("start spinning");
-  ros::spin();
-  return 0;
-}
-
-const float Run::Atan::demi_pi = 2*atan(1);
diff --git a/src/data.h b/src/data.h
deleted file mode 100644
index 8fe89bc..0000000
--- a/src/data.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#ifndef DATA_H
-#define DATA_H
-template <typename T>
-struct Data
-{
-  public:
-    T x, y, z, th;
-};
-#endif
diff --git a/src/keyboard_azerty.py b/src/keyboard_azerty.py
deleted file mode 100755
index 8e62ffb..0000000
--- a/src/keyboard_azerty.py
+++ /dev/null
@@ -1,127 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-import roslib;# roslib.load_manifest('teleop_twist_keyboard')
-import rospy
-
-from geometry_msgs.msg import Twist
-from std_msgs.msg import Empty
-
-import sys, select, termios, tty
-
-msg = """
-        ---------------------
-takeoff>|  t|⇑ y|↖ u|↑ i|↗ o|  
-        |---|---|---|---|---|----
-  reset>|  g|⇐ h|← j|  k|→ l|⇒ m|
-        |---|---|---|---|---|----
-   land>|  b|⇓ n|↙ ,|↓ ;|↘ :| 
-        ---------------------
-
-a/w : increase/decrease max speeds by 10%
-z/x : increase/decrease only linear speed by 10%
-e/c : increase/decrease only angular speed by 10%
-anything else : stop
-
-CTRL-C to quit
-"""
-
-moveBindings = {
-    #   x th y z
-    'i':(1,0,0,0),
-    'o':(1,-1,0,0),
-    'j':(0,1,0,0),
-    'l':(0,-1,0,0),
-    'u':(1,1,0,0),
-    ';':(-1,0,0,0),
-    ':':(-1,1,0,0),
-    ',':(-1,-1,0,0),
-    'h':(0,0,-1,0),
-    'm':(0,0,1,0),
-    'y':(0,0,0,1),
-    'n':(0,0,0,-1),
-         }
-
-speedBindings={
-    'a':(1.1,1.1),
-    'w':(.9,.9),
-    'z':(1.1,1),
-    'x':(.9,1),
-    'e':(1,1.1),
-    'c':(1,.9),
-        }
-
-def getKey():
-  tty.setraw(sys.stdin.fileno())
-  select.select([sys.stdin], [], [], 0)
-  key = sys.stdin.read(1)
-  termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
-  return key
-
-speed = 0.1
-turn = 0.5
-
-def vels(speed,turn):
-  return "currently:\tspeed %s\tturn %s " % (speed,turn)
-
-if __name__=="__main__":
-  settings = termios.tcgetattr(sys.stdin)
-  pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
-  land = rospy.Publisher('/ardrone/land', Empty, queue_size=1)
-  takeoff = rospy.Publisher('/ardrone/takeoff', Empty, queue_size=1)
-  reset = rospy.Publisher('/ardrone/reset', Empty, queue_size=1)
-  rospy.init_node('keyboard_azerty')
-  x = 0
-  th = 0
-  y = 0
-  z = 0
-  status = 0
-  try:
-    print msg
-    print vels(speed,turn)
-    while(1):
-      key = getKey()
-      if (key == 't'):
-        takeoff.publish(Empty())
-        print "takeoff"
-      elif (key == 'g'):
-        reset.publish(Empty())
-        print "reset"
-      elif (key == 'b'):
-        land.publish(Empty())
-        print "land"
-      else:
-        if key in moveBindings.keys():
-          x = moveBindings[key][0]
-          th = moveBindings[key][1]
-          y = moveBindings[key][2]
-          z = moveBindings[key][3]
-        elif key in speedBindings.keys():
-          speed = speed * speedBindings[key][0]
-          turn = turn * speedBindings[key][1]
-          print vels(speed,turn)
-          if (status == 14):
-            print msg
-          status = (status + 1) % 15
-        else:
-          x = 0
-          th = 0
-          y = 0
-          z = 0
-          if (key == '\x03'):
-            break
-        twist = Twist()
-        twist.linear.x = x*speed
-        twist.linear.y = y*speed
-        twist.linear.z = z*speed
-        twist.angular.x = 0; twist.angular.y = 0;
-        twist.angular.z = th*turn
-        pub.publish(twist)
-  except:
-    print e
-  finally:
-    twist = Twist()
-    twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
-    twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
-    pub.publish(twist)
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
-
diff --git a/src/pcl_displayer.cpp b/src/pcl_displayer.cpp
index 1fc78d4..6f96468 100644
--- a/src/pcl_displayer.cpp
+++ b/src/pcl_displayer.cpp
@@ -1,3 +1,4 @@
+// a not very useful test tool
 #include <ros/ros.h>
 #include <pcl_ros/point_cloud.h>
 #include <pcl/point_types.h>
diff --git a/src/random_pcl_publisher.cpp b/src/random_pcl_publisher.cpp
index 874a408..ea40b53 100644
--- a/src/random_pcl_publisher.cpp
+++ b/src/random_pcl_publisher.cpp
@@ -1,3 +1,4 @@
+// a not very useful test programm
 #include <ros/ros.h>
 #include <time.h>
 #include <pcl_ros/point_cloud.h>