diff --git a/software/raspberry/superviseur-robot/CMakeLists.txt b/software/raspberry/superviseur-robot/CMakeLists.txt
index 332053f..fbdd1c5 100644
--- a/software/raspberry/superviseur-robot/CMakeLists.txt
+++ b/software/raspberry/superviseur-robot/CMakeLists.txt
@@ -10,7 +10,7 @@ add_library(base64
             lib/base64/base64.cpp
             lib/base64/base64.h
             )
-target_include_directories(base64 PUBLIC lib/base64/base64.h)
+target_include_directories(base64 PUBLIC lib/base64)
 
 # lib
 add_library(lib
@@ -38,12 +38,12 @@ find_package(OpenCV REQUIRED)
 target_link_libraries(lib ${OpenCV_LIBS})
 
 # Raspicam_CV
-find_package(raspicam REQUIRED)
-target_link_libraries(lib ${raspicam_CV_LIBS})
+#find_package(raspicam REQUIRED)
+#target_link_libraries(lib ${raspicam_CV_LIBS})
 
 # Xenomai
 set(Xenomai_ROOT_DIR /usr/xenomai)     # Optional: hint for Xenomai root folder
-set(Xenomai_libs POSIX ALCHEMY RTDM PSOS VXWORKS SMOKEY COBALT NATIVE)   # List of Xenomai libraries to link
+set(Xenomai_libs POSIX ALCHEMY RTDM PSOS VXWORKS SMOKEY NATIVE)   # List of Xenomai libraries to link
 
 find_package(Xenomai 3.0 REQUIRED ${Xenomai_libs})
 if (Xenomai_FOUND)
@@ -53,7 +53,7 @@ else ()
 endif ()
 
 foreach (lib IN LISTS Xenomai_libs)
-    message(STATUS ${Xenomai_${lib}_LDFLAGS})
+    message(STATUS ${lib}: ${Xenomai_${lib}_LDFLAGS})
     target_link_options(main PRIVATE ${Xenomai_${lib}_LDFLAGS})
     target_include_directories(main PRIVATE ${Xenomai_${lib}_INCLUDE_DIR})
     target_link_libraries(main ${Xenomai_${lib}_LIBRARY_DIRS} ${Xenomai_${lib}_LIBRARIES})
diff --git a/software/raspberry/superviseur-robot/cmake-modules/FindXenomai.cmake b/software/raspberry/superviseur-robot/cmake-modules/FindXenomai.cmake
index ac97a8f..87174b2 100644
--- a/software/raspberry/superviseur-robot/cmake-modules/FindXenomai.cmake
+++ b/software/raspberry/superviseur-robot/cmake-modules/FindXenomai.cmake
@@ -155,7 +155,7 @@ if (DEFINED ENV{SDKTARGETSYSROOT} AND NOT DEFINED Xenomai_ROOT_DIR)
    SET(ENV{DESTDIR} $ENV{SDKTARGETSYSROOT})
 endif ()
 # set the search paths
-set(Xenomai_SEARCH_PATH /usr/local /usr $ENV{XENOMAI_ROOT_DIR} ${Xenomai_ROOT_DIR} ${Xenomai_ROOT_DIR}/usr/)
+set(Xenomai_SEARCH_PATH ${Xenomai_ROOT_DIR})
 
 # searching kernel headers 
 # Find kernel headers
@@ -170,12 +170,14 @@ endif ()
 
 
 # Find xeno-config
-find_program(Xenomai_XENO_CONFIG NAMES xeno-config PATHS ${Xenomai_SEARCH_PATH}/bin NO_DEFAULT_PATH)
+# Always finds /usr/bin/xeno-config for some reason
+# find_program(Xenomai_XENO_CONFIG NAMES xeno-config PATHS ${Xenomai_SEARCH_PATH}/bin NO_DEFAULT_PATH)
+set(Xenomai_XENO_CONFIG ${Xenomai_SEARCH_PATH}/bin/xeno-config)
 
 if (Xenomai_XENO_CONFIG)
    set(Xenomai_FOUND ${Xenomai_XENO_CONFIG})
    execute_process(COMMAND ${Xenomai_XENO_CONFIG} --version OUTPUT_VARIABLE Xenomai_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE)
-   message(STATUS "xeno-config is found. Xenomai should be ok and version found is ${Xenomai_VERSION}")
+   message(STATUS "xeno-config is found at ${Xenomai_XENO_CONFIG}. Xenomai should be ok and version found is ${Xenomai_VERSION}")
 
    if (${Xenomai_VERSION} VERSION_GREATER "3.0.2")
       message(STATUS "xeno-config has the --auto-init-solib option")
diff --git a/software/raspberry/superviseur-robot/lib/camera.cpp b/software/raspberry/superviseur-robot/lib/camera.cpp
index 45e2c0d..0619e60 100644
--- a/software/raspberry/superviseur-robot/lib/camera.cpp
+++ b/software/raspberry/superviseur-robot/lib/camera.cpp
@@ -36,10 +36,11 @@ Camera::Camera():Camera(sm, 10){
 Camera::Camera(int size, int fps) {
     this->SetSize(size);
 #ifndef __FOR_PC__
-    this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3);
-    this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width);
-    this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height);
-    this->cap.set(CV_CAP_PROP_FPS, fps);
+//    TODO Throws Camera has no member cap
+//    this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3);
+//    this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width);
+//    this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height);
+//    this->cap.set(CV_CAP_PROP_FPS, fps);
 #endif /* __FOR_PC__ */
 }
 
@@ -60,13 +61,14 @@ bool Camera::Open() {
         status = true;
     }
 #else
-    if (this->cap.open()) {
-        cout << "Camera warmup 2sec" << endl << flush;
-        sleep(2);
-        cout << "Start capture" << endl << flush;
-
-        status = true;
-    }
+//    TODO Throws Camera has no member cap
+//    if (this->cap.open()) {
+//        cout << "Camera warmup 2sec" << endl << flush;
+//        sleep(2);
+//        cout << "Start capture" << endl << flush;
+//
+//        status = true;
+//    }
 #endif /* __FOR_PC__ */
 
     return status;
@@ -76,7 +78,8 @@ bool Camera::Open() {
  * Close and release camera
  */
 void Camera::Close() {
-    this->cap.release();
+//    TODO Throws Camera has no member cap
+//    this->cap.release();
 }
 
 /**
@@ -120,8 +123,9 @@ Img Camera::Grab() {
     cap >> frame;
     Img capture = Img(frame);
 #else
-    cap.grab();
-    cap.retrieve(frame);
+//    TODO Throws Camera has no member cap
+//    cap.grab();
+//    cap.retrieve(frame);
 
 #ifdef __INVERSE_COLOR__
     cvtColor(frame, frame, CV_BGR2RGB);
@@ -138,7 +142,9 @@ Img Camera::Grab() {
  * @return true if camera is open, false otherwise
  */
 bool Camera::IsOpen() {
-    return cap.isOpened();
+//    TODO Throws Camera has no member cap
+//    return cap.isOpened();
+    return false;
 }
 
 /**
diff --git a/software/raspberry/superviseur-robot/lib/camera.h b/software/raspberry/superviseur-robot/lib/camera.h
index f59e6b3..fc99f4a 100644
--- a/software/raspberry/superviseur-robot/lib/camera.h
+++ b/software/raspberry/superviseur-robot/lib/camera.h
@@ -22,7 +22,8 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #ifndef __FOR_PC__
-#include "raspicam/raspicam_cv.h"
+//  TODO install raspicam and uncomment
+//#include "raspicam/raspicam_cv.h"
 #endif /* __FOR_PC__ */
 #include "img.h"
 
@@ -94,14 +95,15 @@ public:
     Img Grab();
     
 private:
-#ifdef __FOR_PC__
-    /**
-     * Camera descriptor
-     */
-    cv::VideoCapture cap;
-#else
-    raspicam::RaspiCam_Cv cap;
-#endif /*  __FOR_PC__ */   
+//  TODO install raspicam and uncomment
+//#ifdef __FOR_PC__
+//    /**
+//     * Camera descriptor
+//     */
+//    cv::VideoCapture cap;
+//#else
+//    raspicam::RaspiCam_Cv cap;
+//#endif /*  __FOR_PC__ */
    
     /**
      * Size for image (default= small)
diff --git a/software/raspberry/superviseur-robot/lib/comrobot.cpp b/software/raspberry/superviseur-robot/lib/comrobot.cpp
index d9227b4..e6c5f11 100644
--- a/software/raspberry/superviseur-robot/lib/comrobot.cpp
+++ b/software/raspberry/superviseur-robot/lib/comrobot.cpp
@@ -153,7 +153,7 @@ int ComRobot::Open(string shost, int nport) {
     }
     return 1;
 #else
-    return -1
+    return -1;
 #endif
 }
 
@@ -164,7 +164,7 @@ int ComRobot::Open(string shost, int nport) {
 int ComRobot::Close() {
 #ifdef __SIMULATION__
     return close(sock);
-#elif
+#else
     return close(fd);
 #endif
 }
diff --git a/software/raspberry/superviseur-robot/lib/img.cpp b/software/raspberry/superviseur-robot/lib/img.cpp
index 8413cef..dde3176 100644
--- a/software/raspberry/superviseur-robot/lib/img.cpp
+++ b/software/raspberry/superviseur-robot/lib/img.cpp
@@ -175,9 +175,10 @@ std::list<Position> Img::SearchRobot(Arena arena) {
         imgTraitment = this->img(arena.arena);
     }
 
-    cvtColor(imgTraitment, imgTraitment, CV_RGB2GRAY);
-    threshold(imgTraitment, imgTraitment, 128, 255, CV_THRESH_BINARY);
-    findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
+//    TODO Cannot find symbols
+//    cvtColor(imgTraitment, imgTraitment, CV_RGB2GRAY);
+//    threshold(imgTraitment, imgTraitment, 128, 255, CV_THRESH_BINARY);
+//    findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
 
     for (unsigned int i = 0; i < contours.size(); i++) {
         ImageMat m(contours[i]);