diff --git a/CMakeLists.txt b/CMakeLists.txt
index 647f2c6..2308cdf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,10 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES Air_Ground_CEC
-#  CATKIN_DEPENDS roscpp
-#  DEPENDS system_lib
+
 )
 
 ###########
diff --git a/src/main/Djitellowhite.cpp b/src/main/Djitellowhite.cpp
index c8a8f52..432eef8 100644
--- a/src/main/Djitellowhite.cpp
+++ b/src/main/Djitellowhite.cpp
@@ -1,6 +1,6 @@
-#include"Djitellowhite.h"
-#include<iostream>
-#include<opencv2/opencv.hpp>
+#include "../include/Djitellowhite.h"
+#include <iostream>
+#include <opencv2/opencv.hpp>
 
 
 #include<stdio.h>
diff --git a/src/main/Triplet.cpp b/src/main/Triplet.cpp
index 9c0ef65..0343058 100644
--- a/src/main/Triplet.cpp
+++ b/src/main/Triplet.cpp
@@ -1,6 +1,7 @@
-#include"Djitellowhite.h"
-#include"Hardwarelistener.h"
-#include<iostream>
+#include "../include/Djitellowhite.h"
+#include "../include/Hardwarelistener.h"
+#include <iostream>
+/*
 using namespace std;
 int main(void){
 	Tello T("192.168.10.1");
@@ -43,3 +44,4 @@ int main(void){
 	listenkeyboard(T,serveraddr);
 	return 0;
 }
+*/
diff --git a/src/main/keyboard.cpp b/src/main/keyboard.cpp
index dcf3ade..2233c48 100644
--- a/src/main/keyboard.cpp
+++ b/src/main/keyboard.cpp
@@ -1,6 +1,6 @@
 #include <termio.h>
 #include <stdio.h>
-#include "Hardwarelistener.h"
+#include "../include/Hardwarelistener.h"
 #include <iostream>
 
 using namespace std;
diff --git a/src/main/main.cpp b/src/main/main.cpp
index c8a4313..a860dea 100644
--- a/src/main/main.cpp
+++ b/src/main/main.cpp
@@ -13,10 +13,10 @@ int main(int argc, char** argv)
 
     QApplication app(argc, argv);
 
-    //MainWindow CEC(0,0,0);
-    //CEC.show();
-    LoginUi a(0);
-    a.show();
+    MainWindow CEC(0,0,0);
+    CEC.show();
+    //LoginUi a(0);
+    //a.show();
     return app.exec();
 
     return(0);
@@ -26,6 +26,7 @@ int main(int argc, char** argv)
 
 /*
  * find . "(" -name "*.cpp" -or -name "*.h" -or -name "*.hpp" -or -name "*.qrc" ")" -print | xargs wc -l
+ * git fame --incl '\.[cht]' -twMC
  * rosrun rqt_graph rqt_graph
  * git fame
  */
diff --git a/src/main/qnode.cpp b/src/main/qnode.cpp
index 2ba92dc..016c879 100644
--- a/src/main/qnode.cpp
+++ b/src/main/qnode.cpp
@@ -1,6 +1,8 @@
 #include "../include/Air_Ground_CEC/qnode.hpp"
 
 #include "sensor_msgs/image_encodings.h"
+#include "sensor_msgs/CompressedImage.h"
+
 #include <QtConcurrent/QtConcurrent>
 
 QNode::QNode(int argc, char **argv) : init_argc(argc), init_argv(argv){
@@ -47,7 +49,8 @@ void QNode::SubAndPubTopic(){
                               &QNode::batteryCallback, this);
 
     image_transport::ImageTransport it(n);
-    image_sub = it.subscribe("camera/rgb/image_raw", 100, &QNode::imageCallback, this);
+    //camera/rgb/image_raw
+    image_sub = it.subscribe("raspicam_node/image", 10, &QNode::imageCallback, this);
 
     //image_sub0 = n.subscribe("camera/rgb/image_raw",100,&QNode::imageCallback,this)
 
@@ -172,12 +175,12 @@ void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
 {
     emit speed_x(msg->twist.twist.linear.x);
     emit speed_th(msg->twist.twist.angular.z);
-
 }
 
 
 void QNode::imageCallback(const sensor_msgs::ImageConstPtr &msg)
 {
+    ROS_INFO("i am ok");
     try
       {
         cv_bridge::CvImageConstPtr cv_ptr =
diff --git a/src/main/server.cpp b/src/main/server.cpp
index 581b3e7..6d4cffc 100644
--- a/src/main/server.cpp
+++ b/src/main/server.cpp
@@ -40,7 +40,7 @@ void udp_server(int sockfd)
 
     close(sockfd);
 }
-
+/*
 int main(int argc, char **argv)
 {
     int sockfd;
@@ -54,5 +54,6 @@ int main(int argc, char **argv)
 
     exit(0);
 }
+*/