diff --git a/cfg/Commande.cfg b/cfg/Commande.cfg
new file mode 100644
index 0000000..69e0aa2
--- /dev/null
+++ b/cfg/Commande.cfg
@@ -0,0 +1,21 @@
+#!usr/bin/env python
+
+PACKAGE = "hand_control"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+#gen.add("int_param",    int_t,    0, "An Integer parameter", 50,  0, 100)
+
+#"commande" node
+gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.)
+gen.add("x_minimal_deviation", double_t, 0, "Absolute horizontal movement detection treshold", 0.05, 0.)
+gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.05, 0.)
+gen.add("z_minimal_deviation", double_t, 0, "Absolute vertical movement detection treshold", 0.1, 0.)
+gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 1.5, 0.)
+gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 3000, 0)
+gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1)
+
+
+exit(gen.generate(PACKAGE, "hand_control", "Commande"))