diff --git a/software/raspberry/superviseur-robot/CMakeLists.txt b/software/raspberry/superviseur-robot/CMakeLists.txt
index c92ecb2..e1df92e 100644
--- a/software/raspberry/superviseur-robot/CMakeLists.txt
+++ b/software/raspberry/superviseur-robot/CMakeLists.txt
@@ -1,6 +1,8 @@
-cmake_minimum_required(VERSION 3.13)
+cmake_minimum_required(VERSION 3.0)
 project(superviseur)
 
+SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
 # Import modules
 set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake-modules)
 
@@ -11,6 +13,7 @@ add_library(base64
             lib/base64/base64.h
             )
 target_include_directories(base64 PUBLIC lib/base64)
+set_property(TARGET base64 PROPERTY CXX_STANDARD 11)
 
 # lib
 add_library(lib
@@ -28,10 +31,12 @@ add_library(lib
 target_include_directories(lib PUBLIC lib)
 target_link_libraries(lib base64)
 target_compile_definitions(lib PUBLIC __FOR_PC__ __SIMULATION__ __WITH_ARUCO__ __WITH_OPENCV4__)
+set_property(TARGET lib PROPERTY CXX_STANDARD 11)
 
 # Compile main executable
 add_executable(main main.cpp tasks.cpp tasks.h)
 target_link_libraries(main lib)
+set_property(TARGET main PROPERTY CXX_STANDARD 11)
 
 # OpenCV
 #set (OpenCV_DIR /path/to/opencv)        # Optiona: hint for OpenCV root folder
@@ -44,7 +49,7 @@ target_link_libraries(lib ${OpenCV_LIBS})
 
 # Xenomai
 set(Xenomai_ROOT_DIR /usr/xenomai)     # Optional: hint for Xenomai root folder
-set(Xenomai_libs POSIX ALCHEMY RTDM PSOS VXWORKS SMOKEY NATIVE)   # List of Xenomai libraries to link
+set(Xenomai_libs ALCHEMY)   # List of Xenomai libraries to link
 
 find_package(Xenomai 3.0 REQUIRED ${Xenomai_libs})
 if (Xenomai_FOUND)
@@ -54,9 +59,10 @@ else ()
 endif ()
 
 foreach (lib IN LISTS Xenomai_libs)
+    string(SUBSTRING ${Xenomai_${lib}_LIBRARY_DIRS} 2 -1 Xenomai_${lib}_LIBRARY_DIRS)   # remove -L prefix
     target_include_directories(main PRIVATE ${Xenomai_${lib}_INCLUDE_DIRS})
-    target_link_options(main PRIVATE "LINKER:-R/usr/xenomai/lib")
-    target_link_libraries(main ${Xenomai_${lib}_LIBRARY_DIRS} ${Xenomai_${lib}_LIBRARIES})
+    target_link_directories(main PRIVATE ${Xenomai_${lib}_LIBRARY_DIRS})
+    target_link_libraries(main ${Xenomai_${lib}_LIBRARIES})
     set_target_properties(main PROPERTIES LINK_FLAGS ${Xenomai_${lib}_LDFLAGS})
     target_compile_definitions(main PRIVATE ${Xenomai_${lib}_DEFINITIONS})
 endforeach ()