diff --git a/humanoid_robot_intelligence_control_system_controller/launch/bellande_controller.launch.py b/humanoid_robot_intelligence_control_system_controller/launch/bellande_controller.launch.py
new file mode 100644
index 0000000..17fdc78
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_controller/launch/bellande_controller.launch.py
@@ -0,0 +1,83 @@
+# 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", "humanoid_robot_intelligence_control_system_controller", "bellande_controller.launch"] + args
+    
+    roslaunch_command.extend([
+        "ros_web_api_bellande_adaptive_continuious_controller", "bellande_controller.py", "name:=bellande_controller_node"
+    ])
+    
+    roslaunch_command.extend([
+        "humanoid_robot_intelligence_control_system_controller", "BellandeController.py", "name:=bellande_controller_class_node"
+    ])
+    
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+def ros2_launch_description():
+    nodes_to_launch = []
+    
+    nodes_to_launch.append(Node(
+        package='ros_web_api_bellande_adaptive_continuious_controller',
+        executable='bellande_controller.py',
+        name='bellande_controller_node',
+        output='screen',
+        parameters=[{
+            'gains': LaunchConfiguration('gains'),
+            'name': LaunchConfiguration('name'),
+            'output_limits': LaunchConfiguration('output_limits')
+        }]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='humanoid_robot_intelligence_control_system_controller',
+        executable='BellandeController.py',
+        name='bellande_controller_class_node',
+        output='screen',
+        parameters=[{
+            'gains': LaunchConfiguration('gains'),
+            'name': LaunchConfiguration('name'),
+            'output_limits': LaunchConfiguration('output_limits')
+        }]
+    ))
+    
+    return LaunchDescription([
+        DeclareLaunchArgument('gains', default_value='[1.0, 0.1, 0.05]'),
+        DeclareLaunchArgument('name', default_value='BellandeController'),
+        DeclareLaunchArgument('output_limits', default_value='[-1000.0, 1000.0]'),
+    ] + 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/humanoid_robot_intelligence_control_system_controller/launch/ros1/bellande_controller.launch b/humanoid_robot_intelligence_control_system_controller/launch/ros1/bellande_controller.launch
new file mode 100644
index 0000000..5bfe982
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_controller/launch/ros1/bellande_controller.launch
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<!--
+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/>.
+-->
+
+<launch>
+  <!-- Arguments -->
+  <arg name="gains" default="[1.0, 0.1, 0.05]" />
+  <arg name="name" default="BellandeController" />
+  <arg name="output_limits" default="[-1000.0, 1000.0]" />
+
+  <node name="bellande_controller_class_node"
+    pkg="humanoid_robot_intelligence_control_system_controller" type="BellandeController.py"
+    output="screen">
+    <param name="gains" value="$(arg gains)" />
+    <param name="name" value="$(arg name)" />
+    <param name="output_limits" value="$(arg output_limits)" />
+  </node>
+
+  <include
+    file="$(find ros_web_api_bellande_adaptive_continuious_controller)/launch/bellande_controller.launch">
+    <arg name="gains" value="$(arg gains)" />
+    <arg name="name" value="$(arg name)" />
+    <arg name="output_limits" value="$(arg output_limits)" />
+  </include>
+</launch>