diff --git a/launch/base_gesture_control.launch.py b/launch/base_gesture_control.launch.py
new file mode 100644
index 0000000..da671e3
--- /dev/null
+++ b/launch/base_gesture_control.launch.py
@@ -0,0 +1,44 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import (
+    PathJoinSubstitution,
+    LaunchConfiguration,
+    TextSubstitution,
+)
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
+
+def generate_launch_description():
+    pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
+
+
+    # Launch arguments
+    launch_args = [
+        DeclareLaunchArgument(
+            "use_sim_time",
+            description="Use clock from simulation",
+            default_value="True",
+        ),
+        DeclareLaunchArgument(
+            "namespace", default_value="sirius_bot", description="Top-level namespace"
+        ),
+    ]
+
+    base_gesture_control_node = Node(
+        package="unity_robot_controller",
+        executable="base_gesture_control_node",
+        name="base_gesture_control",
+        namespace=LaunchConfiguration("namespace"),
+            output="both",
+            parameters=[
+                {"fire_ext_max_capacity": 100},
+            ],
+    )
+
+    return LaunchDescription(
+        launch_args
+        + [
+            base_gesture_control_node,
+        ]
+    )
diff --git a/setup.py b/setup.py
index 84f3d5a..f0c73ec 100644
--- a/setup.py
+++ b/setup.py
@@ -29,7 +29,8 @@ setup(
     entry_points={
         'console_scripts': [
             'fire_extinguisher_emulator_node = unity_robot_controller.fire_extinguisher_emulator:main',
-            'joy_control_node = unity_robot_controller.joy_control_node:main'
+            'joy_control_node = unity_robot_controller.joy_control_node:main',
+            'base_gesture_control_node = unity_robot_controller.base_gesture_control_node:main'
         ],
     },
 )
diff --git a/unity_robot_controller/base_gesture_control_node.py b/unity_robot_controller/base_gesture_control_node.py
new file mode 100644
index 0000000..895846e
--- /dev/null
+++ b/unity_robot_controller/base_gesture_control_node.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from unity_robot_controller.unity_robot_controller import UnityRobotController
+from sensor_msgs.msg import Joy
+from cv_bridge import CvBridge
+import cv2
+import numpy as np
+from sensor_msgs.msg import Image
+
+class BaseGestureControlNode(Node):
+
+    def __init__(self, RobotController):
+
+        super().__init__('joy_control')
+
+        self.URC = RobotController(self)
+
+
+        self.bridge = CvBridge()
+        self.cv_image = None
+
+        # subscriptions
+        self.create_subscription(Image, 'image', self.image_cb, 10)
+
+
+    def image_cb(self, msg):
+        try:
+            self.cv_image = self.bridge.imgmsg_to_cv2(raw_msg, desired_encoding='bgr8')
+        except Exception as e:
+            self.get_logger().error(f"Failed to convert image: {e}")
+            self.cv_image = None
+            return
+
+    def run(self):
+        try:
+            while rclpy.ok():
+
+                if not self.cv_image is None:
+
+                    # DO DETECTION HERE
+                    self.cv_image
+
+                    # SELECT COMMAND
+
+                    # self.URC.send_speed_cmd(v, w) # speed control in -1 1 both
+                    # self.URC.send_fire_ext_pose_cmd(x, y) # crosshair in -1 1 both
+                    # self.URC.send_fire_ext_burst_cmd()
+
+                rclpy.spin_once(self, timeout_sec=0.1)
+        finally:
+            self.destroy_node()
+            rclpy.shutdown()
+
+
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = BaseGestureControlNode(UnityRobotController)
+    node.run()
+    #rclpy.run()#spin(node)
+    #node.destroy_node()
+    #rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/unity_robot_controller/gesture_rec b/unity_robot_controller/gesture_rec
index 266adb8..0415ff9 160000
--- a/unity_robot_controller/gesture_rec
+++ b/unity_robot_controller/gesture_rec
@@ -1 +1 @@
-Subproject commit 266adb892ad59d5fdc70f6202480c77b98d94cdc
+Subproject commit 0415ff9f429d9f23bd14897447a0d555955eb17a