diff --git a/Projet/pioneer_gazebo_ros/pioneer_ros/launch/pioneer_controller_spin_recover.launch b/Projet/pioneer_gazebo_ros/pioneer_ros/launch/pioneer_controller_spin_recover.launch
new file mode 100644
index 0000000..0255c04
--- /dev/null
+++ b/Projet/pioneer_gazebo_ros/pioneer_ros/launch/pioneer_controller_spin_recover.launch
@@ -0,0 +1,9 @@
+<launch>
+	<!-- Robot controller parameters -->
+  <node pkg="pioneer_ros" type="pioneer_pid_controller" name="pioneer_ros">
+  	<rosparam file="$(find pioneer_ros)/pioneer_controller_params.yaml" command="load"/>
+  	<remap from="pioneer/cmd_vel" to="controller_cmd_vel"/>
+  </node>
+  <node pkg="pioneer_ros" type="move_base_recover" name="move_base_recover" output="screen"/>
+<!--  <node pkg="pioneer_ros" type="turn_robot_around.py" name="turn_robot_around"/>-->
+</launch>