diff --git a/src/gui/CMakeLists.txt b/src/gui/CMakeLists.txt
index 9eb8204..e748c55 100644
--- a/src/gui/CMakeLists.txt
+++ b/src/gui/CMakeLists.txt
@@ -8,81 +8,64 @@ if(ROCK_QT_VERSION_4)
             PlannerGui.h
         MOC
             PlannerGui.h
-       DEPS ugv_nav4d Qt4::QtCore
-       DEPS_PKGCONFIG vizkit3d
-                      vizkit3d-viz
-                      maps-viz
-                      base-viz
-                      sbpl_spline_primitives-viz
-                      base-types
-                      trajectory_follower-viz
-                      pcl_common-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
-                      pcl_io-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
+        DEPS ugv_nav4d Qt4::QtCore
+        DEPS_PKGCONFIG vizkit3d
+                       vizkit3d-viz
+                       maps-viz
+                       base-viz
+                       sbpl_spline_primitives-viz
+                       base-types
+                       trajectory_follower-viz
+                       pcl_common-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
+                       pcl_io-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
     )
-endif(ROCK_QT_VERSION_4)
-
-if(ROCK_QT_VERSION_5)
-    rock_library(ugv_nav4d_gui-qt5
-        SOURCES
-            PlannerGui.cpp
-        HEADERS
-            PlannerGui.h
-        MOC5
-            PlannerGui.h
-       DEPS ugv_nav4d-qt5 Qt5::Core
-       DEPS_PKGCONFIG vizkit3d-qt5
-                      vizkit3d-viz-qt5
-                      maps-viz-qt5
-                      base-viz-qt5
-                      sbpl_spline_primitives-viz-qt5
-                      base-types
-                      trajectory_follower-viz-qt5
-                      pcl_common-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
-                      pcl_io-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
-    )
-endif(ROCK_QT_VERSION_5)
 
-if(ROCK_QT_VERSION_4)
     rock_executable(ugv_nav4d_bin
-        SOURCES
+       SOURCES
             Main.cpp
        DEPS ugv_nav4d ugv_nav4d_gui
     )
 
     rock_executable(ugv_nav4d_replay
-        SOURCES
+       SOURCES
             ReplayDump.cpp
        DEPS ugv_nav4d ugv_nav4d_gui
        DEPS_PKGCONFIG vizkit3d  maps-viz base-viz
        sbpl_spline_primitives-viz base-types trajectory_follower-viz
     )
-    if(ROCK_QT_VERSION_5)
-        rock_executable(ugv_nav4d_bin-qt5
-            SOURCES
-                Main.cpp
-           DEPS ugv_nav4d-qt5 ugv_nav4d_gui-qt5
-        )
+endif(ROCK_QT_VERSION_4)
 
-        rock_executable(ugv_nav4d_replay-qt5
-            SOURCES
-                ReplayDump.cpp
-           DEPS ugv_nav4d-qt5 ugv_nav4d_gui-qt5
-           DEPS_PKGCONFIG vizkit3d-qt5  maps-viz-qt5 base-viz-qt5
-           sbpl_spline_primitives-viz-qt5 base-types trajectory_follower-viz-qt5
-        )
-    endif(ROCK_QT_VERSION_5)
-elseif(ROCK_QT_VERSION_5)
-    rock_executable(ugv_nav4d_bin
+if(ROCK_QT_VERSION_5)
+    rock_library(ugv_nav4d_gui-qt5
+        SOURCES
+            PlannerGui.cpp
+        HEADERS
+            PlannerGui.h
+        MOC5
+            PlannerGui.h
+        DEPS ugv_nav4d-qt5 Qt5::Core
+        DEPS_PKGCONFIG vizkit3d-qt5
+                       vizkit3d-viz-qt5
+                       maps-viz-qt5
+                       base-viz-qt5
+                       sbpl_spline_primitives-viz-qt5
+                       base-types
+                       trajectory_follower-viz-qt5
+                       pcl_common-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
+                       pcl_io-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
+    )
+
+    rock_executable(ugv_nav4d_bin-qt5
         SOURCES
             Main.cpp
-       DEPS ugv_nav4d-qt5 ugv_nav4d_gui-qt5
+        DEPS ugv_nav4d-qt5 ugv_nav4d_gui-qt5
     )
 
-    rock_executable(ugv_nav4d_replay
+    rock_executable(ugv_nav4d_replay-qt5
         SOURCES
             ReplayDump.cpp
-       DEPS ugv_nav4d-qt5 ugv_nav4d_gui-qt5
-       DEPS_PKGCONFIG vizkit3d-qt5  maps-viz-qt5 base-viz-qt5
-       sbpl_spline_primitives-viz-qt5 base-types trajectory_follower-viz-qt5
+        DEPS ugv_nav4d-qt5 ugv_nav4d_gui-qt5
+        DEPS_PKGCONFIG vizkit3d-qt5  maps-viz-qt5 base-viz-qt5
+        sbpl_spline_primitives-viz-qt5 base-types trajectory_follower-viz-qt5
     )
-endif()
+endif(ROCK_QT_VERSION_5)
\ No newline at end of file
diff --git a/src/gui/PlannerGui.cpp b/src/gui/PlannerGui.cpp
index b055e4f..cf44cff 100644
--- a/src/gui/PlannerGui.cpp
+++ b/src/gui/PlannerGui.cpp
@@ -22,6 +22,8 @@
 
 using namespace ugv_nav4d;
 
+//#define ENABLE_V3DD_DRAWINGS
+
 PlannerGui::PlannerGui(const std::string& dumpName): QObject()
 {
     setupUI();
@@ -64,8 +66,9 @@ void PlannerGui::setupUI()
     goal.orientation.setIdentity();
     
     widget = new vizkit3d::Vizkit3DWidget();
+#ifdef ENABLE_V3DD_DRAWINGS
     V3DD::CONFIGURE_DEBUG_DRAWINGS_USE_EXISTING_WIDGET(widget);
-    
+#endif
     trav3dViz.setPluginName("TravMap");
     obstacleMapViz.setPluginName("ObstacleMap");
     
@@ -448,11 +451,12 @@ void PlannerGui::picked(float x, float y, float z, int buttonMask, int modifierM
         {
             start.position << x, y, z;
             start.position.z() += travConfig.distToGround; //because we click on the ground but need to put robot position
-            
+
+#ifdef ENABLE_V3DD_DRAWINGS
             V3DD::CLEAR_DRAWING("ugv_nav4d_start_aabb");
             V3DD::DRAW_WIREFRAME_BOX("ugv_nav4d_start_aabb", start.position +  base::Vector3d(0, 0, travConfig.distToGround / 2.0), start.orientation,
                                base::Vector3d(travConfig.robotSizeX, travConfig.robotSizeY, travConfig.robotHeight - travConfig.distToGround), V3DD::Color::cyan);
-            
+#endif
             QVector3D pos(start.position.x(), start.position.y(), start.position.z());
             startViz.setTranslation(pos);
             LOG_INFO_S << "Start: " << start.position.transpose();
@@ -536,10 +540,11 @@ void PlannerGui::startOrientationChanged(int newValue)
     const double rad = newValue/180.0 * M_PI;
     start.orientation = Eigen::AngleAxisd(rad, Eigen::Vector3d::UnitZ());
     startViz.setRotation(QQuaternion(start.orientation.w(), start.orientation.x(), start.orientation.y(), start.orientation.z()));
-    
+#ifdef ENABLE_V3DD_DRAWINGS
     V3DD::CLEAR_DRAWING("ugv_nav4d_start_aabb");
     V3DD::DRAW_WIREFRAME_BOX("ugv_nav4d_start_aabb", start.position + Eigen::Vector3d(0, 0, travConfig.distToGround),
                        start.orientation, base::Vector3d(travConfig.robotSizeX, travConfig.robotSizeY, travConfig.robotHeight), V3DD::Color::cyan);
+#endif
 }
 
 void PlannerGui::obstacleDistanceSpinBoxEditingFinished()
@@ -569,8 +574,9 @@ void PlannerGui::startPlanThread()
 {
     bar->setMaximum(0);
     std::thread t([this](){
+#ifdef ENABLE_V3DD_DRAWINGS
         V3DD::CONFIGURE_DEBUG_DRAWINGS_USE_EXISTING_WIDGET(this->widget);
-
+#endif
         this->plan(this->start, this->goal);
     });
     t.detach(); //needed to avoid destruction of thread at end of method