diff --git a/src/commande-abs.cpp b/src/commande-abs.cpp
index cc6cd61..fd36d36 100644
--- a/src/commande-abs.cpp
+++ b/src/commande-abs.cpp
@@ -71,26 +71,9 @@ class Run
     }//end publish
 
   public:
-    Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity, const float& angle_velocity,
-        const float& z_velocity, const float& x_minimal_deviation, const float& y_minimal_deviation,
-        const float& z_minimal_deviation, const float& neutral_alt, const float& theta_minimal_deviation, 
-	const int& min_points_number, const float& up_fact) :
-      pub(cmd_publisher),
-      plan_vel(plan_velocity),
-      angle_vel(angle_velocity);
-      max_curv(max_curvature),
-      z_vel(z_velocity),
-      xx(0),
-      yy(0),
-      zz(0),
-      theta(0),
-      x_dev_min(x_minimal_deviation),
-      y_dev_min(y_minimal_deviation),
-      z_dev_min(z_minimal_deviation),
-      neutral_z(neutral_alt),
-      first_msg(true),
-      min_number(min_points_number),
-      up_factor(up_fact)
+    Run(const ros::Publisher& cmd_publisher) :
+      pub(cmd_publisher)
+      {}
 
     void callback(const hand_control::Plan::ConstPtr& msg)
     {
@@ -148,118 +131,8 @@ int main(int argc, char** argv)
   ros::init(argc, argv, "commande");
   ros::NodeHandle node("commande");
 
-  double max_curv(0);
-  if (node.getParam("max_curv", max_curv))
-  {
-    ROS_INFO("max_curv : %f" , max_curv);
-  } else {
-    node.setParam("max_curv", 0.08);
-    node.getParam("max_curv", max_curv);
-    ROS_INFO("max_curv : %f (default value)", max_curv);
-  }
-
-  double plan_vel(0);
-  if (node.getParam("plan_vel", plan_vel))
-  {
-    ROS_INFO("plan_vel : %f" , plan_vel);
-  } else {
-    node.setParam("plan_vel", 0.8);
-    node.getParam("plan_vel", plan_vel);
-    ROS_INFO("plan_vel : %f (default value)", plan_vel);
-  }
-
-  double z_vel(0);
-  if (node.getParam("z_vel", z_vel))
-  {
-    ROS_INFO("z_vel : %f" , z_vel);
-  } else {
-    node.setParam("z_vel", 0.8);
-    node.getParam("z_vel", z_vel);
-    ROS_INFO("z_vel : %f (default value)", z_vel);
-  }
-
-  double angle_vel(0);
-  if (node.getParam("angle_vel", angle_vel))
-  {
-    ROS_INFO("angle_vel : %f" , angle_vel);
-  } else {
-    node.setParam("angle_vel", 10);
-    node.getParam("angle_vel", angle_vel);
-    ROS_INFO("angle_vel : %f (default value)", angle_vel);
-  }
-
-  int min_number(0);
-  if (node.getParam("min_number", min_number))
-  {
-    ROS_INFO("min_number : %d" , min_number);
-  } else {
-    node.setParam("min_number", 500);
-    node.getParam("min_number", min_number);
-    ROS_INFO("min_number : %d (default value)", min_number);
-  }
-
-  double x_dev_min(0);
-  if (node.getParam("x_dev_min", x_dev_min))
-  {
-    ROS_INFO("x_dev_min : %f" , x_dev_min);
-  } else {
-    node.setParam("x_dev_min", 0.05);
-    node.getParam("x_dev_min", x_dev_min);
-    ROS_INFO("x_dev_min : %f (default value)", x_dev_min);
-  }
-
-  double y_dev_min(0);
-  if (node.getParam("y_dev_min", y_dev_min))
-  {
-    ROS_INFO("y_dev_min : %f" , y_dev_min);
-  } else {
-    node.setParam("y_dev_min", 0.05);
-    node.getParam("y_dev_min", y_dev_min);
-    ROS_INFO("y_dev_min : %f (default value)", y_dev_min);
-  }
-
-  double z_dev_min(0);
-  if (node.getParam("z_dev_min", z_dev_min))
-  {
-    ROS_INFO("z_dev_min : %f" , z_dev_min);
-  } else {
-    node.setParam("z_dev_min", 0.1);
-    node.getParam("z_dev_min", z_dev_min);
-    ROS_INFO("z_dev_min : %f (default value)", z_dev_min);
-  }
-
-  double th_dev_min(0);
-  if (node.getParam("th_dev_min", th_dev_min))
-  {
-    ROS_INFO("th_dev_min : %f" , th_dev_min);
-  } else {
-    node.setParam("th_dev_min", 15);
-    node.getParam("th_dev_min", th_dev_min);
-    ROS_INFO("th_dev_min : %f (default value)", th_dev_min);
-  }
-
-  double neutral_z(0);
-  if (node.getParam("neutral_z", neutral_z))
-  {
-    ROS_INFO("neutral_z : %f" , neutral_z);
-  } else {
-    node.setParam("neutral_z", 1.5);
-    node.getParam("neutral_z", neutral_z);
-    ROS_INFO("neutral_z : %f (default value)", neutral_z);
-  }
-
-  double up_fact(0);
-  if (node.getParam("up_fact", up_fact))
-  {
-    ROS_INFO("up_fact : %f" , up_fact);
-  } else {
-    node.setParam("up_fact", 1.5);
-    node.getParam("up_fact", up_fact);
-    ROS_INFO("up_fact : %f (default value)", up_fact);
-  }
-
   ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
-  Run run(cmd_pub, max_curv, plan_vel, z_vel, angle_vel, x_dev_min, y_dev_min, z_dev_min, th_dev_min, neutral_z, min_number, up_fact);
+  Run run(cmd_pub);
   ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
   
   dynamic_reconfigure::Server<hand_control::CommandeConfig> server;