diff --git a/Writerside/gu.tree b/Writerside/gu.tree
index b3b4832..a7516ec 100644
--- a/Writerside/gu.tree
+++ b/Writerside/gu.tree
@@ -89,6 +89,7 @@
                             <toc-element topic="Tirette-Service-Interface.md"/>
                         </toc-element>
                     </toc-element>
+                    <toc-element topic="Developpement.md"/>
                 </toc-element>
             </toc-element>
         </toc-element>
diff --git a/Writerside/topics/Developpement.md b/Writerside/topics/Developpement.md
new file mode 100644
index 0000000..5fd1fab
--- /dev/null
+++ b/Writerside/topics/Developpement.md
@@ -0,0 +1,11 @@
+# Developpement
+
+
+### Debug
+Pour recup les data de la rasp sur son pc->
+```bash
+source <modelec-serge-ROS install>/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+export FASTRTPS_DEFAULT_PROFILES_FILE=<modelec-serge-ROS install>/fastdds_test.xml
+export ROS_DOMAIN_ID=128
+```