diff --git a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
index de996c9..6d84df4 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
@@ -41,7 +41,7 @@
     </conf>
     <conf name="Debug__RPI_" type="1">
       <toolsSet>
-        <developmentServer>xenomai@10.105.0.144:22</developmentServer>
+        <developmentServer>xenomai@10.105.0.140:22</developmentServer>
         <platform>2</platform>
       </toolsSet>
       <dbx_gdbdebugger version="1">
diff --git a/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.140-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.140-xenomai-22
new file mode 100644
index 0000000..e69de29
diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22
new file mode 100644
index 0000000..053d279
--- /dev/null
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22
@@ -0,0 +1,39 @@
+#Thu Apr 04 17:02:01 CEST 2024
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/main.cpp=c1712238648769
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1712238648773
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1712238648790
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/Makefile=c1712238648634
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1712238648755
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1712238648766
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1712238648775
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1712238648721
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1712238648782
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.h=c1712238648836
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/README.md=c1712238648637
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1712238648826
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1712238648778
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1712238648829
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1712238648730
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1712242917288
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1712238648753
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.dep.inc=c1712238648629
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.h=c1712238648760
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1712238648744
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1712238648739
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1712238648758
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1712238648735
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1712238648737
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1712238648750
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/wrapper.c=c1712238648838
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1712238648742
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1712238648763
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1712238648718
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1712238648733
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1712238648728
+VERSION=1.3
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1712238648747
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1712238648780
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1712238648784
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.gitignore=c1712238648632
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1712238648823
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1712238648726
diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 207cbe1..ddfb3f2 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -25,7 +25,7 @@
 #define PRIORITY_TSENDTOMON 22
 #define PRIORITY_TRECEIVEFROMMON 25
 #define PRIORITY_TSTARTROBOT 20
-#define PRIORITY_TCAMERA 21
+#define PRIORITY_TCAMERA 18
 #define PRIORITY_TBATTERY 19
 
 /*
@@ -324,7 +324,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
         }
         else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
             rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
-            if(cameraStatus != CameraStatusEnum::OPENED)
+            if(cameraStatus == CameraStatusEnum::CLOSED)
                 cameraStatus = CameraStatusEnum::OPENING;
             rt_mutex_release(&mutex_cameraStatus);
         }
@@ -522,8 +522,13 @@ void Tasks::OpenCamera(void * arg)
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
 
+
+    /* The task starts here */
+    rt_task_set_periodic(NULL, TM_NOW, 500000000);
+
     while(1)
     {
+        rt_task_wait_period(NULL);
         // Verify that the robot has started
         rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
         rs = robotStarted;
@@ -537,9 +542,14 @@ void Tasks::OpenCamera(void * arg)
         {
             rt_mutex_acquire(&mutex_camera, TM_INFINITE);
             cam = new Camera(sm, 10);
+            bool is_opened = cam->Open();
             rt_mutex_release(&mutex_camera);
             rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
-            cameraStatus = CameraStatusEnum::OPENED;
+            if(is_opened)
+            {
+                cameraStatus = CameraStatusEnum::OPENED;
+                std::cout << "Camera Opened" << std::endl;
+            }
             rt_mutex_release(&mutex_cameraStatus);
         }
     }
@@ -553,9 +563,12 @@ void Tasks::ImageCamera(void * arg)
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
+    
+    rt_task_set_periodic(NULL, TM_NOW, 100000000);
 
     while(1)
     {
+        rt_task_wait_period(NULL);
         // Check the status of the camera
         rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
         cs = cameraStatus;