diff --git a/Projet/pioneer_gazebo_ros/pioneer_ros/CMakeLists.txt b/Projet/pioneer_gazebo_ros/pioneer_ros/CMakeLists.txt
new file mode 100644
index 0000000..d9e2a5a
--- /dev/null
+++ b/Projet/pioneer_gazebo_ros/pioneer_ros/CMakeLists.txt
@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(pioneer_ros)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+  tf
+)
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(pioneer_tf_broadcaster src/pioneer_tf_broadcaster.cpp)
+target_link_libraries(pioneer_tf_broadcaster ${catkin_LIBRARIES})
+add_dependencies(pioneer_tf_broadcaster ${catkin_EXPORTED_TARGETS})
+
+add_executable(pioneer_odom_publisher src/pioneer_odom_publisher.cpp)
+target_link_libraries(pioneer_odom_publisher ${catkin_LIBRARIES})
+add_dependencies(pioneer_odom_publisher ${catkin_EXPORTED_TARGETS})
+
+add_executable(pioneer_pid_controller src/pioneer_pid_controller.cpp)
+target_link_libraries(pioneer_pid_controller ${catkin_LIBRARIES})
+add_dependencies(pioneer_pid_controller ${catkin_EXPORTED_TARGETS})
+
+add_executable(move_base_recover src/move_base_recover.cpp)
+target_link_libraries(move_base_recover ${catkin_LIBRARIES})
+add_dependencies(move_base_recover ${catkin_EXPORTED_TARGETS})
diff --git a/Projet/pioneer_gazebo_ros/pioneer_ros/package.xml b/Projet/pioneer_gazebo_ros/pioneer_ros/package.xml
new file mode 100644
index 0000000..33c16ca
--- /dev/null
+++ b/Projet/pioneer_gazebo_ros/pioneer_ros/package.xml
@@ -0,0 +1,67 @@
+<?xml version="1.0"?>
+<package>
+  <name>pioneer_ros</name>
+  <version>0.0.0</version>
+  <description>The pioneer_ros package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="jchu2041@todo.todo">jchu2041</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/pioneer_ros</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
\ No newline at end of file
diff --git a/Projet/pioneer_gazebo_ros/pioneer_ros/pioneer_controller_params.yaml b/Projet/pioneer_gazebo_ros/pioneer_ros/pioneer_controller_params.yaml
new file mode 100644
index 0000000..bba0cd7
--- /dev/null
+++ b/Projet/pioneer_gazebo_ros/pioneer_ros/pioneer_controller_params.yaml
@@ -0,0 +1,28 @@
+controller_gains:
+    left:
+        linear:
+            p: 10.87
+            i: 0.01
+            d: 0.1
+        angular:
+            p: 3.37
+            i: 0.01
+            d: 0.1
+    right:
+        linear:
+            p: 10.87
+            i: 0.01
+            d: 0.1
+        angular:
+            p: 3.37
+            i: 0.01
+            d: 0.1
+    body:
+        linear:
+            p: 0.70
+            i: 0.01
+            d: 0.1
+        angular:
+            p: -1.00
+            i: 0.01
+            d: 0.1