diff --git a/launch/essai-commande.launch b/launch/essai-commande.launch
index 0e5e51d..2983ba1 100644
--- a/launch/essai-commande.launch
+++ b/launch/essai-commande.launch
@@ -4,8 +4,8 @@
     <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" />
+  <param name="/random/freq" value="10.0" type="double" />
+  <param name="/random/length" value="25" type="int" />
   <node name="publisher" pkg="hand_control" type="random_pcl_publisher" >
     <remap from="/random/output" to="/random_pcl"/>
   </node>
@@ -18,6 +18,7 @@
   <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"/>
+  <param name="/commande/max_curv" value="0.3" type="double"/>
   <node name="commande" pkg="hand_control" type="commande">
     <remap from="/commande/input" to="/estimator/output"/>
   </node>