diff --git a/src/buzz_utility.h b/src/buzz_utility.h
deleted file mode 100644
index b6b8e0e..0000000
--- a/src/buzz_utility.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#pragma once
-#include <stdio.h>
-#include <buzz_utility.h>
-#include <buzzuav_closures.h>
-#include <buzz/buzzdebug.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <iostream>
-#include <stdint.h>
-#include <map>
-
-using namespace std;
-namespace buzz_utility{
-
-struct pos_struct
-{
-  double x,y,z;
-  pos_struct(double x,double y,double z):x(x),y(y),z(z){};
-  pos_struct(){}
-};
-
-typedef struct pos_struct Pos_struct ;
-
-uint16_t* u64_cvt_u16(uint64_t u64);
-
-int buzz_listen(const char* type,
-                       int msg_size);
-
-void neighbour_pos_callback(std::map< int,  Pos_struct> neighbours_pos_map);
-
-void in_msg_process(uint64_t* payload);
-
-uint64_t* out_msg_process();
-
-int buzz_script_set(const char* bo_filename,
-                           const char* bdbg_filename, int robot_id);
-void buzz_script_step();
-
-void buzz_script_destroy();
-
-int buzz_script_done();
-
-}
diff --git a/src/buzzuav_closures.h b/src/buzzuav_closures.h
deleted file mode 100644
index 4937812..0000000
--- a/src/buzzuav_closures.h
+++ /dev/null
@@ -1,59 +0,0 @@
-#pragma once
-//#ifndef BUZZUAV_CLOSURES_H
-//#define BUZZUAV_CLOSURES_H
-#include <buzz/buzzvm.h>
-#include <stdio.h>
-#include <uav_utility.h>
-#include <mavros_msgs/CommandCode.h>
-#include <ros/ros.h>
-
-namespace buzzuav_closures{
-
-/*
- * prextern int() function in Buzz
- * This function is used to print data from buzz
- * The command to use in Buzz is buzzros_print takes any available datatype in Buzz
- */
-int buzzros_print(buzzvm_t vm);
-
-/*
- * buzzuav_goto(latitude,longitude,altitude) function in Buzz
- * commands the UAV to go to a position supplied
- */
-int buzzuav_goto(buzzvm_t vm);
-/* Returns the current command from local variable*/
-int getcmd();
-/*Sets goto position could be used for bypassing*/
-void set_goto(double pos[]);
-/*sets rc requested command */
-void rc_call(int rc_cmd);
-/* sets the battery state */
-void set_battery(float voltage,float current,float remaining);
-/*retuns the current go to position */
-double* getgoto();
-/*
- * Commands the UAV to takeoff
- */
-int buzzuav_takeoff(buzzvm_t vm);
-
-/* Commands the UAV to land
- */
-int buzzuav_land(buzzvm_t vm);
-
-/* Command the UAV to go to home location
- */
-int buzzuav_gohome(buzzvm_t vm);
-
-/*
- * Updates battery information in Buzz
- */
-int buzzuav_update_battery(buzzvm_t vm);
-
-/*
- * Updates IR information in Buzz
- * Proximity and ground sensors to do !!!!
- */
-int buzzuav_update_prox(buzzvm_t vm);
-
-//#endif
-}
diff --git a/src/roscontroller.h b/src/roscontroller.h
deleted file mode 100644
index d498c82..0000000
--- a/src/roscontroller.h
+++ /dev/null
@@ -1,101 +0,0 @@
-#pragma once
-#include <ros/ros.h>
-#include <sensor_msgs/NavSatFix.h>
-#include <mavros_msgs/GlobalPositionTarget.h>
-#include <mavros_msgs/CommandCode.h>
-#include <mavros_msgs/CommandInt.h>
-#include <mavros_msgs/State.h>
-#include <mavros_msgs/BatteryStatus.h>
-#include <mavros_msgs/Mavlink.h>
-#include <sensor_msgs/NavSatStatus.h>
-#include <sstream>
-#include <buzz/buzzasm.h>
-#include <buzzuav_closures.h>
-#include <buzz_utility.h>
-#include <uav_utility.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include <signal.h>
-#include <ostream>
-#include <map>
-
-using namespace std;
-
-namespace rosbzz_node{
-
-
-class roscontroller{
-
-public:
-	roscontroller();
-	~roscontroller();
-	void RosControllerRun();
-
-private:
-        
- 	double cur_pos[3];
-	uint64_t payload;
-	std::map< int,  buzz_utility::Pos_struct> neighbours_pos_map;
-	int timer_step=0;
-	int robot_id=0;
-        int oldcmdID=0;
-	std::string bzzfile_name, fcclient_name, rcservice_name; //, rcclient;
-	bool rcclient;
-	ros::ServiceClient mav_client;
-	ros::Publisher payload_pub;
-	ros::ServiceServer service;
-	ros::Subscriber current_position_sub;
-	ros::Subscriber battery_sub;
-	ros::Subscriber payload_sub;
-	/*Create node Handler*/
-	ros::NodeHandle n_c;
-	/*Commands for flight controller*/
-  	mavros_msgs::CommandInt cmd_srv;	
-  	/* The bytecode filename */
-   	char* bcfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bo"; //argv[1];
-   	/* The debugging information file name */
-   	char* dbgfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bdbg"; //argv[2];
-
-	void Initialize_pub_sub();
-
-	/*Obtain data from ros parameter server*/	
-	void Rosparameters_get();
-
-	void Compile_bzz();
-
-	/*Prepare messages and publish*/
-	void prepare_msg_and_publish();
-
-	  	
-	/*Refresh neighbours Position for every ten step*/
-	void maintain_pos(int tim_step);
-
-	/*Maintain neighbours position*/
-	void neighbours_pos_maintain(int id, buzz_utility::Pos_struct pos_arr );
-
-        /*Set the current position of the robot callback*/
-	void set_cur_pos(double latitude,
-			 double longitude,
-			 double altitude);
-	/*convert from catresian to spherical coordinate system callback */
-	double* cvt_spherical_coordinates(double neighbours_pos_payload []);
-	
-	/*battery status callback*/ 
-	void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
-
-	/*current position callback*/
-	void current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg);
-
-	/*payload callback callback*/
-	inline void payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg);
-
-	/* RC commands service */
-	inline bool rc_callback(mavros_msgs::CommandInt::Request  &req,
-		         mavros_msgs::CommandInt::Response &res);
-
-
-
-};
-
-}