diff --git a/src/modelec_core/launch/modelec.launch.py b/src/modelec_core/launch/modelec.launch.py
index b9c5a0b..c0d92e4 100644
--- a/src/modelec_core/launch/modelec.launch.py
+++ b/src/modelec_core/launch/modelec.launch.py
@@ -30,40 +30,40 @@ def generate_launch_description():
     with_com = LaunchConfiguration('with_com')
     with_strat = LaunchConfiguration('with_strat')
 
-def launch_rplidar_restart_if_needed(context, *args, **kwargs):
-    if context.launch_configurations.get('with_rplidar') == 'true':
-        def create_rplidar_node():
-            return Node(
-                package='rplidar_ros',
-                executable='rplidar_node',
-                name='rplidar_node',
-                parameters=[{
-                    'channel_type': channel_type,
-                    'serial_port': serial_port,
-                    'serial_baudrate': serial_baudrate,
-                    'frame_id': frame_id,
-                    'inverted': inverted,
-                    'angle_compensate': angle_compensate
-                }],
-                output='screen'
+    def launch_rplidar_restart_if_needed(context, *args, **kwargs):
+        if context.launch_configurations.get('with_rplidar') == 'true':
+            def create_rplidar_node():
+                return Node(
+                    package='rplidar_ros',
+                    executable='rplidar_node',
+                    name='rplidar_node',
+                    parameters=[{
+                        'channel_type': channel_type,
+                        'serial_port': serial_port,
+                        'serial_baudrate': serial_baudrate,
+                        'frame_id': frame_id,
+                        'inverted': inverted,
+                        'angle_compensate': angle_compensate
+                    }],
+                    output='screen'
+                )
+
+            rplidar_node = create_rplidar_node()
+
+            restart_handler = RegisterEventHandler(
+                OnProcessExit(
+                    target_action=rplidar_node,
+                    on_exit=[
+                        TimerAction(
+                            period=5.0,
+                            actions=[create_rplidar_node()]  # ✅ créer un NOUVEAU Node
+                        )
+                    ]
+                )
             )
 
-        rplidar_node = create_rplidar_node()
-
-        restart_handler = RegisterEventHandler(
-            OnProcessExit(
-                target_action=rplidar_node,
-                on_exit=[
-                    TimerAction(
-                        period=5.0,
-                        actions=[create_rplidar_node()]  # ✅ créer un NOUVEAU Node
-                    )
-                ]
-            )
-        )
-
-        return [rplidar_node, restart_handler]
-    return []
+            return [rplidar_node, restart_handler]
+        return []
 
 
     # Function to launch GUI and shutdown handler