diff --git a/launch/all-new-1d.launch b/launch/all-new-1d.launch
index 3704926..e4e70f6 100644
--- a/launch/all-new-1d.launch
+++ b/launch/all-new-1d.launch
@@ -1,15 +1,9 @@
 
 <launch>
 
-  <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
-
-  <param name="/filtre/zmax" value="1.9" type="double"/>
-  <!-- hand color
-  <param name="/filtre/hue" value="0.0" type="double"/>
-  -->
-  <param name="/filtre/hue" value="210.0" type="double"/>
-  <param name="/filtre/delta_hue" value="20.0" type="double"/>
+  <include file="$(find hand_control)/launch/all-param.launch" />
 
+  <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
   <node name="filtre" pkg="hand_control" type="filtre">
     <remap from="/filtre/input" to="/camera/xyzrgb/points"/>
   </node>
@@ -18,15 +12,6 @@
     <remap from="/estimator/input" to="/filtre/output"/>
   </node>
 
-  <param name="/commande/max_curv" value="0.02" type="double" />
-  <param name="/commande/plan_vel" value="0.2" type="double" />
-  <param name="/commande/z_vel" value="1.0" type="double" />
-  <param name="/commande/min_number" value="2000" type="int" />
-  <param name="/commande/x_dev_min" value="0.1" type="double" />
-  <param name="/commande/y_dev_min" value="0.1" type="double" />
-  <param name="/commande/y_dev_min" value="0.1" type="double" />
-  <param name="/commande/dz_dev_min" value="0.05" type="double" />
-
   <node name="commander" pkg="hand_control" type="commande-new-1d">
     <remap from="/commande/input" to="/estimator/output"/>
   </node>
diff --git a/launch/all-new.launch b/launch/all-new.launch
index 49c3677..ca8e5c6 100644
--- a/launch/all-new.launch
+++ b/launch/all-new.launch
@@ -1,14 +1,9 @@
 
 <launch>
 
-  <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
+  <include file="$(find hand_control)/launch/all-param.launch" />
 
-  <param name="/filtre/zmax" value="1.9" type="double"/>
-  <!-- hand color
-  <param name="/filtre/hue" value="0.0" type="double"/>
-  -->
-  <param name="/filtre/hue" value="210.0" type="double"/>
-  <param name="/filtre/delta_hue" value="20.0" type="double"/>
+  <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
 
   <node name="filtre" pkg="hand_control" type="filtre">
     <remap from="/filtre/input" to="/camera/xyzrgb/points"/>
@@ -18,15 +13,6 @@
     <remap from="/estimator/input" to="/filtre/output"/>
   </node>
 
-  <param name="/commande/max_curv" value="0.02" type="double" />
-  <param name="/commande/plan_vel" value="0.2" type="double" />
-  <param name="/commande/z_vel" value="1.0" type="double" />
-  <param name="/commande/min_number" value="2000" type="int" />
-  <param name="/commande/x_dev_min" value="0.1" type="double" />
-  <param name="/commande/y_dev_min" value="0.1" type="double" />
-  <param name="/commande/y_dev_min" value="0.1" type="double" />
-  <param name="/commande/dz_dev_min" value="0.05" type="double" />
-
   <node name="commander" pkg="hand_control" type="commande-new">
     <remap from="/commande/input" to="/estimator/output"/>
   </node>
diff --git a/launch/all-param.launch b/launch/all-param.launch
new file mode 100644
index 0000000..496cef7
--- /dev/null
+++ b/launch/all-param.launch
@@ -0,0 +1,20 @@
+
+<launch>
+
+  <param name="/filtre/zmax" value="1.9" type="double"/>
+  <!-- hand color
+  <param name="/filtre/hue" value="0.0" type="double"/>
+  -->
+  <param name="/filtre/hue" value="210.0" type="double"/>
+  <param name="/filtre/delta_hue" value="20.0" type="double"/>
+
+  <param name="/commande/max_curv" value="0.02" type="double" />
+  <param name="/commande/plan_vel" value="0.2" type="double" />
+  <param name="/commande/z_vel" value="1.0" type="double" />
+  <param name="/commande/min_number" value="2000" type="int" />
+  <param name="/commande/x_dev_min" value="0.1" type="double" />
+  <param name="/commande/y_dev_min" value="0.1" type="double" />
+  <param name="/commande/y_dev_min" value="0.1" type="double" />
+  <param name="/commande/dz_dev_min" value="0.05" type="double" />
+
+</launch>
diff --git a/launch/all.launch b/launch/all.launch
index e993976..bce9bf5 100644
--- a/launch/all.launch
+++ b/launch/all.launch
@@ -1,15 +1,9 @@
 
 <launch>
 
-  <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
-
-  <param name="/filtre/zmax" value="1.9" type="double"/>
-  <!-- hand color
-  <param name="/filtre/hue" value="0.0" type="double"/>
-  -->
-  <param name="/filtre/hue" value="210.0" type="double"/>
-  <param name="/filtre/delta_hue" value="20.0" type="double"/>
+  <include file="$(find hand_control)/launch/all-param.launch" />
 
+  <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
   <node name="filtre" pkg="hand_control" type="filtre">
     <remap from="/filtre/input" to="/camera/xyzrgb/points"/>
   </node>
@@ -18,15 +12,6 @@
     <remap from="/estimator/input" to="/filtre/output"/>
   </node>
 
-  <param name="/commande/max_curv" value="0.02" type="double" />
-  <param name="/commande/plan_vel" value="0.2" type="double" />
-  <param name="/commande/z_vel" value="1.0" type="double" />
-  <param name="/commande/min_number" value="2000" type="int" />
-  <param name="/commande/x_dev_min" value="0.1" type="double" />
-  <param name="/commande/y_dev_min" value="0.1" type="double" />
-  <param name="/commande/y_dev_min" value="0.1" type="double" />
-  <param name="/commande/dz_dev_min" value="0.05" type="double" />
-
   <node name="commander" pkg="hand_control" type="commande">
     <remap from="/commande/input" to="/estimator/output"/>
   </node>