diff --git a/launch/commande.launch b/launch/commande.launch
deleted file mode 100644
index b67caee..0000000
--- a/launch/commande.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-        <node name="commande" pkg="hand_control" type="commande">
-                <remap from="/filtre/output" to="/cmd_vel"/>
-        </node>
-</launch>
diff --git a/launch/essai-commande.launch b/launch/essai-commande.launch
new file mode 100644
index 0000000..0e5e51d
--- /dev/null
+++ b/launch/essai-commande.launch
@@ -0,0 +1,25 @@
+<launch>
+
+  <node name="filtre_z" pkg="hand_control" type="filtre">
+    <remap from="/filtre/input" to="/random_pcl"/>
+  </node>
+
+  <param name="/publisher/freq" value="30.0" type="double" />
+  <param name="/publisher/length" value="50" type="int" />
+  <node name="publisher" pkg="hand_control" type="random_pcl_publisher" >
+    <remap from="/random/output" to="/random_pcl"/>
+  </node>
+
+  <node name="estimator" pkg="hand_control" type="normal_estimator">
+    <remap from="/estimator/input" to="/filtre/output"/>
+  </node>
+
+  <param name="/commande/min_number" value="5" type="int"/>
+  <param name="/commande/x_dev_min" value="0." type="double"/>
+  <param name="/commande/y_dev_min" value="0." type="double"/>
+  <param name="/commande/dz_dev_min" value="0." type="double"/>
+  <node name="commande" pkg="hand_control" type="commande">
+    <remap from="/commande/input" to="/estimator/output"/>
+  </node>
+
+</launch>
diff --git a/src/commande.cpp b/src/commande.cpp
index ff92355..904c682 100644
--- a/src/commande.cpp
+++ b/src/commande.cpp
@@ -42,12 +42,12 @@ class Run
         mvt->linear.z = dz * z_vel;
         ROS_INFO("z changed");
       }
-      if (xx > x_dev_min)
+      if (fabs(xx) > x_dev_min)
       {
         mvt->linear.y = xx * plan_vel;
         // because of the kinect orientation
       }
-      if (yy > y_dev_min)
+      if (fabs(yy) > y_dev_min)
       {
         mvt->linear.x = yy * plan_vel;
         // because of the kinect orientation