diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5a30ba2..bf34b64 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -132,7 +132,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/test_node.cpp)
+add_executable(commander src/project_file.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -145,9 +145,7 @@ include_directories(
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
+target_link_libraries(commander ${catkin_LIBRARIES})
 
 #############
 ## Install ##
diff --git a/src/project_file.cpp b/src/project_file.cpp
index 378d213..44fbead 100644
--- a/src/project_file.cpp
+++ b/src/project_file.cpp
@@ -10,6 +10,39 @@ Context: This cpp file is part of the second lab of the Advanced_Robotics course
 
 
 #include <ros/ros.h>
+#include <geometry_msgs/Twist.h>
+
+//max values for lin vel 0.22 and angular vel 2.84
+
+void walk(geometry_msgs::Twist& twist, float speed_input){
+
+    //intialisation of the values for the twist messages
+    twist.linear.x=0.0;
+    twist.linear.y=0.0;
+    twist.linear.z=0.0;
+    twist.angular.x=0.0;
+    twist.angular.y=0.0;
+    twist.angular.z=0.0;
+
+    //use of the speed input
+    twist.linear.x=speed_input;
+
+}
+
+void turn_random(geometry_msgs::Twist& twist, float random_angular_speed){
+
+    //initialisation of the values for the twist messages
+    twist.linear.x=0.0;
+    twist.linear.y=0.0;
+    twist.linear.z=0.0;
+    twist.angular.x=0.0;
+    twist.angular.y=0.0;
+    twist.angular.z=0.0;
+
+    //randomise the angle
+    twist.angular.z=random_angular_speed;
+
+}
 
 int main(int argc, char** argv)
 {
@@ -20,10 +53,15 @@ int main(int argc, char** argv)
 	ros::Rate loopRate(10);
 	
 	while(ros::ok()){
-		commanderPublisher.publish();
+
+                geometry_msgs::Twist twist;
+
+                turn_random(twist, 1);
+
+                commanderPublisher.publish(twist);
 		ros::spinOnce();
 		loopRate.sleep();
 	}
 	
 	return 0;
-}
\ No newline at end of file
+}