diff --git a/launch/all.launch b/launch/all.launch
index d0d5475..5e38d05 100644
--- a/launch/all.launch
+++ b/launch/all.launch
@@ -13,4 +13,6 @@
     <remap from="/estimator/input" to="/filtre/output"/>
   </node>
 
+  <include file="$(find hand_control)/launch/commande.launch"/>
+
 </launch>
diff --git a/launch/commande.launch b/launch/commande.launch
new file mode 100644
index 0000000..b67caee
--- /dev/null
+++ b/launch/commande.launch
@@ -0,0 +1,5 @@
+<launch>
+        <node name="commande" pkg="hand_control" type="commande">
+                <remap from="/filtre/output" to="/cmd_vel"/>
+        </node>
+</launch>