diff --git a/ros_web_api_bellande_adaptive_continuious_controller/CMakeLists.txt b/ros_web_api_bellande_adaptive_continuious_controller/CMakeLists.txt
index 131bb95..3f5c5d7 100644
--- a/ros_web_api_bellande_adaptive_continuious_controller/CMakeLists.txt
+++ b/ros_web_api_bellande_adaptive_continuious_controller/CMakeLists.txt
@@ -39,13 +39,22 @@ if($ENV{ROS_VERSION} EQUAL 1)
   )
 endif()
 
+# Install Python scripts for both ROS 1
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_install_python(
+    PROGRAMS
+    src/bellande_controller.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+endif()
+
 # Install Python scripts, configuration files, and launch files
 if($ENV{ROS_VERSION} EQUAL "1")
-    install(PROGRAMS src/bellande_adaptive_continuious_controller_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(PROGRAMS src/bellande_controller.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
     install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
     install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
 elseif($ENV{ROS_VERSION} EQUAL "2")
-    install(PROGRAMS src/bellande_adaptive_continuious_controller_api_2d.py DESTINATION lib/${PROJECT_NAME})
+    install(PROGRAMS src/bellande_controller.py DESTINATION lib/${PROJECT_NAME})
     install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
     install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
 endif()
diff --git a/ros_web_api_bellande_adaptive_continuious_controller/launch/bellande_adaptive_continuious_controller.launch.py b/ros_web_api_bellande_adaptive_continuious_controller/launch/bellande_adaptive_continuious_controller.launch.py
deleted file mode 100644
index be7af43..0000000
--- a/ros_web_api_bellande_adaptive_continuious_controller/launch/bellande_adaptive_continuious_controller.launch.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import os
-import sys
-import subprocess
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
-
-
-def ros1_launch_description():
-    # Get command-line arguments
-    args = sys.argv[1:]
-
-    # Construct the ROS 1 launch commandi
-    roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.launch"] + args
-
-    # Execute the launch command
-    subprocess.call(roslaunch_command)
-
-
-def ros2_launch_description():
-    # Declare launch arguments
-    x1_arg = DeclareLaunchArgument('x1')
-    y1_arg = DeclareLaunchArgument('y1')
-    x2_arg = DeclareLaunchArgument('x2')
-    y2_arg = DeclareLaunchArgument('y2')
-    limit_arg = DeclareLaunchArgument('limit')
-
-    # Create a list to hold all nodes to be launched
-    nodes_to_launch = []
-
-    # ROS2 specific configurations
-    ros_launch_arguments = [
-        x1_arg, y1_arg, x2_arg, y2_arg, limit_arg,
-    ]
-    nodes_to_launch.append(Node(
-        package='ros_web_api_bellande_step',
-        executable='bellande_step_api_2d.py',
-        name='bellande_step_api_2d_node',
-        output='screen',
-        parameters=[
-            {'x1': LaunchConfiguration('x1')},
-            {'y1': LaunchConfiguration('y1')},
-            {'x2': LaunchConfiguration('x2')},
-            {'y2': LaunchConfiguration('y2')},
-            {'limit': LaunchConfiguration('limit')},
-        ],
-    ))
-
-    # Return the LaunchDescription containing all nodes and arguments
-    return LaunchDescription(ros_launch_arguments + nodes_to_launch)
-
-if __name__ == "__main__":
-    ros_version = os.getenv("ROS_VERSION")
-    if ros_version == "1":
-        ros1_launch_description()
-    elif ros_version == "2":
-        ros2_launch_description()
-    else:
-        print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
-        sys.exit(1)
diff --git a/ros_web_api_bellande_adaptive_continuious_controller/launch/bellande_controller.launch.py b/ros_web_api_bellande_adaptive_continuious_controller/launch/bellande_controller.launch.py
new file mode 100644
index 0000000..647b04c
--- /dev/null
+++ b/ros_web_api_bellande_adaptive_continuious_controller/launch/bellande_controller.launch.py
@@ -0,0 +1,71 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+def ros1_launch_description():
+    # Get command-line arguments
+    args = sys.argv[1:]
+    # Construct the ROS 1 launch command
+    roslaunch_command = ["roslaunch", "ros_web_api_bellande_adaptive_continuious_controller", "bellande_controller.launch"] + args
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+def ros2_launch_description():
+    # Declare launch arguments
+    setpoint_arg = DeclareLaunchArgument('setpoint')
+    kp_arg = DeclareLaunchArgument('kp')
+    ki_arg = DeclareLaunchArgument('ki')
+    kd_arg = DeclareLaunchArgument('kd')
+
+    # Create a list to hold all nodes to be launched
+    nodes_to_launch = []
+
+    # ROS2 specific configurations
+    ros_launch_arguments = [
+        setpoint_arg, kp_arg, ki_arg, kd_arg,
+    ]
+
+    nodes_to_launch.append(Node(
+        package='ros_web_api_bellande_adaptive_continuious_controller',
+        executable='bellande_controller.py',
+        name='bellande_controller_node',
+        output='screen',
+        parameters=[
+            {'setpoint': LaunchConfiguration('setpoint')},
+            {'kp': LaunchConfiguration('kp')},
+            {'ki': LaunchConfiguration('ki')},
+            {'kd': LaunchConfiguration('kd')},
+        ],
+    ))
+
+    # Return the LaunchDescription containing all nodes and arguments
+    return LaunchDescription(ros_launch_arguments + nodes_to_launch)
+
+if __name__ == "__main__":
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        ros1_launch_description()
+    elif ros_version == "2":
+        ros2_launch_description()
+    else:
+        print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+        sys.exit(1)
diff --git a/ros_web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_adaptive_continuious_controller.launch b/ros_web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_controller.launch
similarity index 55%
rename from ros_web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_adaptive_continuious_controller.launch
rename to ros_web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_controller.launch
index 15edced..359b763 100644
--- a/ros_web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_adaptive_continuious_controller.launch
+++ b/ros_web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_controller.launch
@@ -15,18 +15,18 @@ License for the specific language governing permissions and limitations under
 the License.
 -->
 <launch>
-  <arg name="x1" />
-  <arg name="y1" />
-  <arg name="x2" />
-  <arg name="y2" />
-  <arg name="limit" />
+  <!-- Define arguments -->
+  <arg name="setpoint" default="0" />
+  <arg name="kp" default="1.0" />
+  <arg name="ki" default="0.1" />
+  <arg name="kd" default="0.05" />
 
-  <node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py"
-    name="bellande_step_api_2d_node" output="screen">
-    <param name="x1" value="$(arg x1)" />
-    <param name="y1" value="$(arg y1)" />
-    <param name="x2" value="$(arg x2)" />
-    <param name="y2" value="$(arg y2)" />
-    <param name="limit" value="$(arg limit)" />
+  <!-- Launch the BellandeController node -->
+  <node name="bellande_controller_node" pkg="ros_web_api_bellande_adaptive_continuious_controller"
+    type="bellande_controller.py" output="screen">
+    <param name="setpoint" value="$(arg setpoint)" />
+    <param name="kp" value="$(arg kp)" />
+    <param name="ki" value="$(arg ki)" />
+    <param name="kd" value="$(arg kd)" />
   </node>
 </launch>
diff --git a/ros_web_api_bellande_adaptive_continuious_controller/setup.py b/ros_web_api_bellande_adaptive_continuious_controller/setup.py
index 5ec6985..b46d54f 100755
--- a/ros_web_api_bellande_adaptive_continuious_controller/setup.py
+++ b/ros_web_api_bellande_adaptive_continuious_controller/setup.py
@@ -1,10 +1,25 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
 from distutils.core import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
-    scripts=['src/bellande_step_api_2d.py'],
-    packages=['ros_web_api_bellande_step'],
+    scripts=['src/bellande_controller.py'],
+    packages=['ros_web_api_bellande_adaptive_continuious_controller'],
     package_dir={'': 'src'},
 )
 
diff --git a/ros_web_api_bellande_adaptive_continuious_controller/src/bellande_adaptive_continuious_controller.py b/ros_web_api_bellande_adaptive_continuious_controller/src/bellande_controller.py
similarity index 100%
rename from ros_web_api_bellande_adaptive_continuious_controller/src/bellande_adaptive_continuious_controller.py
rename to ros_web_api_bellande_adaptive_continuious_controller/src/bellande_controller.py