diff --git a/hand_control/launch/essai-estimator.launch b/hand_control/launch/essai-estimator.launch
index 6880ad2..bc91dd9 100644
--- a/hand_control/launch/essai-estimator.launch
+++ b/hand_control/launch/essai-estimator.launch
@@ -5,6 +5,6 @@
     <remap from="/estimator/input" to="/filtre/output"/>
   </node>
 
-  <param name="/random/freq" value="100." type="double" />
+<!--  <param name="/random/freq" value="100." type="double" /> -->
 
 </launch>
diff --git a/hand_control/launch/essai-filtre.launch b/hand_control/launch/essai-filtre.launch
index 8a3c7ff..45038a9 100644
--- a/hand_control/launch/essai-filtre.launch
+++ b/hand_control/launch/essai-filtre.launch
@@ -3,12 +3,9 @@
   <node name="filtre_z" pkg="hand_control" type="filtre">
     <remap from="/filtre/input" to="/random_pcl"/>
   </node>
-  <param name="/filtre/zmax" value="100." type="double" />
 
   <node name="publisher" pkg="hand_control" type="random_pcl_publisher" >
     <remap from="/random/output" to="/random_pcl"/>
   </node>
-  <param name="/random/freq" value="1." type="double" />
-  <param name="/random/length" value="5" type="int" />
 
 </launch>