diff --git a/launch/all-param.launch b/launch/all-param.launch
index 7002684..20ccb40 100644
--- a/launch/all-param.launch
+++ b/launch/all-param.launch
@@ -2,10 +2,11 @@
 <launch>
 
   <param name="/filtre/zmax" value="1.9" type="double"/>
-  <param name="/filtre/hue" value="0.0" type="double"/>
   <!--
+  <param name="/filtre/hue" value="0.0" type="double"/>
   <param name="/filtre/hue" value="210.0" type="double"/>
   -->
+  <param name="/filtre/hue" value="140.0" type="double"/>
   <param name="/filtre/delta_hue" value="20.0" type="double"/>
 
   <param name="/commande/max_curv" value="0.02" type="double" />
diff --git a/launch/all.launch b/launch/all.launch
index bce9bf5..e4e70f6 100644
--- a/launch/all.launch
+++ b/launch/all.launch
@@ -12,7 +12,7 @@
     <remap from="/estimator/input" to="/filtre/output"/>
   </node>
 
-  <node name="commander" pkg="hand_control" type="commande">
+  <node name="commander" pkg="hand_control" type="commande-new-1d">
     <remap from="/commande/input" to="/estimator/output"/>
   </node>