diff --git a/scripts/joystick-launcher/gepetto-quadruped-reactive-walking.service b/scripts/joystick-launcher/gepetto-quadruped-reactive-walking.service
index a02507bc27da32bfc711dee4f86c7b7b10370c51..52f6700301238a3c4a7d5a0820d63814edcbbe41 100644
--- a/scripts/joystick-launcher/gepetto-quadruped-reactive-walking.service
+++ b/scripts/joystick-launcher/gepetto-quadruped-reactive-walking.service
@@ -4,4 +4,4 @@ Description=Gepetto Quadruped Reactive Walking
 [Service]
 Type=simple
 WorkingDirectory=/home/pi/src/quadruped-reactive-walking/build
-ExecStart=/home/pi/src/quadruped-reactive-walking/build/gepetto-quadruped-reactive-walking
+ExecStart=/usr/bin/chrt 99 /home/pi/src/quadruped-reactive-walking/build/gepetto-quadruped-reactive-walking