diff --git a/src/project_file.cpp b/src/project_file.cpp
new file mode 100644
index 0000000..378d213
--- /dev/null
+++ b/src/project_file.cpp
@@ -0,0 +1,29 @@
+/*
+Date: 22nd of November 2022
+
+Authors: Adrien Lasserre (adrien.lasserre@ecam.fr) and Gwenn Durpoix-Espinasson (g.durpoix-espinasson@ecam.fr)
+
+Context: This cpp file is part of the second lab of the Advanced_Robotics course at ECAM. This course is taught by Guillaume Gibert (guillaume.gibert@ecam.fr).
+		The main goal of this file is to create a ROS node publishing on the /cmd_vel topic of a Turtlebot3 educational robot.
+		
+*/
+
+
+#include <ros/ros.h>
+
+int main(int argc, char** argv)
+{
+	ros::init(argc, argv, "commander");
+	ros::NodeHandle nh;
+	ros::Publisher commanderPublisher =
+		nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
+	ros::Rate loopRate(10);
+	
+	while(ros::ok()){
+		commanderPublisher.publish();
+		ros::spinOnce();
+		loopRate.sleep();
+	}
+	
+	return 0;
+}
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