diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8da6be9..46b9a03 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -134,6 +134,9 @@ include_directories(
 ## The recommended prefix ensures that target names across packages don't collide
 # add_executable(${PROJECT_NAME}_node src/autopilot_node.cpp)
 
+add_executable(autopilot src/autopilot.cpp)
+target_link_libraries(autopilot ${catkin_LIBRARIES})
+
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
diff --git a/src/autopilot.cpp b/src/autopilot.cpp
index 4c95b26..89f6897 100644
--- a/src/autopilot.cpp
+++ b/src/autopilot.cpp
@@ -8,15 +8,15 @@ int main(int argc, char** argv)
 	
 	// Subscribe to the cmd_vel topic
 	ros::NodeHandle nh;
-	ros::Publisher cmdVelPub = nh.advertise<geometry_msg::Twist>("cmd_vel",1);
+	ros::Publisher cmdVelPub = nh.advertise<geometry_msgs::Twist>("cmd_vel",1);
     
 	ros::Rate loopRate(10);
     
 	while(ros::ok())
 	{
-		geometry_msg::Twist msg;
+		geometry_msgs::Twist msg;
 		msg.angular.z =1;
-		mdVelPub.publish(msg);
+		cmdVelPub.publish(msg);
 		ros::spinOnce();
 		loopRate.sleep();
 	}