diff --git a/CMakeLists.txt b/CMakeLists.txt
index 25822d7190..f76dbbf418 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -169,52 +169,52 @@ target_link_libraries(subscriber
   px4
 )
 
-# ## MC Attitude Control
-# add_executable(mc_att_control
-	# src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
-	# src/modules/mc_att_control_multiplatform/mc_att_control.cpp
-	# src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
-# add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
-# target_link_libraries(mc_att_control
-  # ${catkin_LIBRARIES}
-  # px4
-# )
+## MC Attitude Control
+add_executable(mc_att_control
+	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
+add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_att_control
+  ${catkin_LIBRARIES}
+  px4
+)
 
-# ## Attitude Estimator dummy
-# add_executable(attitude_estimator
-	# src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
-# add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
-# target_link_libraries(attitude_estimator
-  # ${catkin_LIBRARIES}
-  # px4
-# )
+## Attitude Estimator dummy
+add_executable(attitude_estimator
+	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
+add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(attitude_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
 
-# ## Manual input
-# add_executable(manual_input
-	# src/platforms/ros/nodes/manual_input/manual_input.cpp)
-# add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
-# target_link_libraries(manual_input
-  # ${catkin_LIBRARIES}
-  # px4
-# )
+## Manual input
+add_executable(manual_input
+	src/platforms/ros/nodes/manual_input/manual_input.cpp)
+add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(manual_input
+  ${catkin_LIBRARIES}
+  px4
+)
 
-# ## Multicopter Mixer dummy
-# add_executable(mc_mixer
-  # src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
-# add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
-# target_link_libraries(mc_mixer
-  # ${catkin_LIBRARIES}
-  # px4
-# )
+## Multicopter Mixer dummy
+add_executable(mc_mixer
+  src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
+add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_mixer
+  ${catkin_LIBRARIES}
+  px4
+)
 
-# ## Commander
-# add_executable(commander
-	# src/platforms/ros/nodes/commander/commander.cpp)
-# add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
-# target_link_libraries(commander
-  # ${catkin_LIBRARIES}
-  # px4
-# )
+## Commander
+add_executable(commander
+	src/platforms/ros/nodes/commander/commander.cpp)
+add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(commander
+  ${catkin_LIBRARIES}
+  px4
+)
 
 #############
 ## Install ##