diff --git a/src/hpp-rbprm-corba.cc b/src/hpp-rbprm-corba.cc
index 8a2039ab8780f473b53482dfb692c2541c75d547..cb9efc7ef0e40e66bbcb0de8095c53a3da366d22 100755
--- a/src/hpp-rbprm-corba.cc
+++ b/src/hpp-rbprm-corba.cc
@@ -20,6 +20,7 @@
 #include <hpp/corbaserver/rbprm/server.hh>
 #include <hpp/core/problem-solver.hh>
 #include <hpp/rbprm/planner/steering-dynamic.hh>
+#include <hpp/rbprm/planner/dynamic-planner.hh>
 
 typedef hpp::rbprm::Server RbprmServer;
 typedef hpp::corbaServer::Server CorbaServer;
@@ -29,6 +30,9 @@ int main (int argc, char* argv [])
     hpp::core::ProblemSolverPtr_t problemSolver (hpp::core::ProblemSolver::create());
     problemSolver->addSteeringMethodType("SteeringDynamic", boost::bind(                                                   static_cast<hpp::rbprm::SteeringDynamicPtr_t (*)(const hpp::core::ProblemPtr_t&)>                                                     (&hpp::rbprm::SteeringDynamic::create), _1 ));
 
+    problemSolver->addPathPlannerType("RRTdynamic",hpp::rbprm::DynamicPlanner::createWithRoadmap);
+
+
     CorbaServer corbaServer (problemSolver, argc,
                const_cast<const char**> (argv), true);