diff --git a/include/tangent_planner_node.h b/include/tangent_planner_node.h
index d040b24..7b1d966 100755
--- a/include/tangent_planner_node.h
+++ b/include/tangent_planner_node.h
@@ -9,11 +9,6 @@
 #include "sensor_msgs/Range.h"
 #include "read.hpp"
 #include <tf/transform_datatypes.h>
-//#include "tangent_planner/nav_path_start.h"
-//#include "tangent_planner/nav_path_stop.h"
-//#include "tangent_planner/nav_get_patrol_name.h"
-//#include "tangent_planner/nav_get_status.h"
-//#include "tangent_planner/nav_low_bat.h"
 #include "thread"
 
 
@@ -33,17 +28,6 @@ namespace Planner {
 
         void twist_publisher_callback();
 
-//        bool start_patrolling_callback(tangent_planner::nav_path_startRequest &req, tangent_planner::nav_path_startResponse &res);
-//
-//        bool stop_patrolling_callback(tangent_planner::nav_path_stopRequest &req, tangent_planner::nav_path_stopResponse &res);
-//
-//        bool get_patrol_path_name_callback(tangent_planner::nav_get_patrol_nameRequest &req,
-//                                           tangent_planner::nav_get_patrol_nameResponse &res);
-//
-//        bool get_current_status_callback(tangent_planner::nav_get_statusRequest &req, tangent_planner::nav_get_statusResponse &res);
-//
-//        bool low_battery_callback(tangent_planner::nav_low_batRequest &req, tangent_planner::nav_low_batResponse &res);
-
         void computeVelocity();
 
         bool is_started();
@@ -79,7 +63,6 @@ namespace Planner {
 
         ros::Publisher twist_publisher;
         bool started_ = false;
-//        std::mutex mtx_;
     };
 }
 
diff --git a/src/main.cpp b/src/main.cpp
index 1d43722..39e0758 100755
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -12,24 +12,6 @@ int main(int argc, char **argv) {
 
     Planner::TangentPlannerNode tangent_planner_node;
     tangent_planner_node.start_thread();
-
-//// integration into the portal control has been left for client
-//    ros::NodeHandle node_handler;
-//    ros::CallbackQueue Q;
-//    node_handler.setCallbackQueue(&Q);
-//    tangent_planner_node.start_patrolling = node_handler.advertiseService("nav_patrol",
-//                                                                          &Planner::TangentPlannerNode::start_patrolling_callback, &tangent_planner_node);
-//    tangent_planner_node.stop_patrolling = node_handler.advertiseService("nav_patrol_stop",
-//                                                                         &Planner::TangentPlannerNode::stop_patrolling_callback, &tangent_planner_node);
-//    tangent_planner_node.get_patrol_path_name = node_handler.advertiseService("nav_get_patrol_name",
-//                                                                              &Planner::TangentPlannerNode::get_patrol_path_name_callback, &tangent_planner_node);
-//    tangent_planner_node.get_current_status = node_handler.advertiseService("nav_get_status",
-//                                                                            &Planner::TangentPlannerNode::get_current_status_callback, &tangent_planner_node);
-//    tangent_planner_node.low_battery = node_handler.advertiseService("nav_low_bat", &Planner::TangentPlannerNode::low_battery_callback, &tangent_planner_node);
-//    while (ros::ok()) {
-//        Q.callOne(ros::WallDuration(1, 0.0));
-//    }
-//    ROS_INFO("shutdown");
     return 0;
 }