diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 75081de942c483a26ad9879560ab969eedabbefd..a7a181548fe485e8e5221c107a2e35345e46279e 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -61,3 +61,4 @@ DYNAMIC_GRAPH_TEST(debug-tracer)
 TARGET_LINK_LIBRARIES(debug-tracer tracer)
 DYNAMIC_GRAPH_TEST(debug-logger)
 DYNAMIC_GRAPH_TEST(debug-logger-winit)
+DYNAMIC_GRAPH_TEST(command-test)
diff --git a/tests/command-test.cpp b/tests/command-test.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3c04780cad31b09ecd8dce2966b1fe9c6c59015b
--- /dev/null
+++ b/tests/command-test.cpp
@@ -0,0 +1,166 @@
+/* Copyright 2019, LAAS-CNRS
+ *
+ * Olivier Stasse
+ *
+ * See LICENSE file
+ *
+ */
+#include <sstream>
+#include <iostream>
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/exception-factory.h>
+#include "dynamic-graph/factory.h"
+#include "dynamic-graph/pool.h"
+#include "dynamic-graph/command-bind.h"
+
+#define ENABLE_RT_LOG
+#include <dynamic-graph/real-time-logger.h>
+#include <dynamic-graph/logger.h>
+
+#define BOOST_TEST_MODULE debug-logger
+
+#include <boost/test/unit_test.hpp>
+#include <boost/test/output_test_stream.hpp>
+
+using boost::test_tools::output_test_stream;
+
+using namespace dynamicgraph::command;
+
+namespace dynamicgraph
+{
+  class CustomEntity : public Entity
+  {
+  public:
+    static const std::string CLASS_NAME;
+    bool test_zero_arg_;
+    bool test_one_arg_;
+    bool test_two_args_;
+    bool test_three_args_;
+    bool test_four_args_;
+    
+    virtual const std::string& getClassName () const
+    {
+      return CLASS_NAME;
+    }
+    CustomEntity (const std::string n)
+      : Entity (n)
+    {
+      test_zero_arg_ = false;
+      test_one_arg_  = false;
+      test_two_args_ = false;
+      test_three_args_ = false;
+      test_four_args_ = false;      
+      
+      addCommand("0_arg",
+		 makeCommandVoid0(*this, &CustomEntity::zero_arg,
+				  docCommandVoid0("zero arg")));
+      
+      addCommand("1_arg",
+		 makeCommandVoid1(*this, &CustomEntity::one_arg,
+				  docCommandVoid1("one arg",
+						  "int")));
+      
+      addCommand("2_args",
+		 makeCommandVoid2(*this, &CustomEntity::two_args,
+				  docCommandVoid2("two args",
+						  "int",
+						  "int")));
+      
+      addCommand("3_args",
+		 makeCommandVoid3(*this, &CustomEntity::three_args,
+				  docCommandVoid3("three args",
+						  "int","int","int")));
+
+      addCommand("4_args",
+		 makeCommandVoid4(*this, &CustomEntity::four_args,
+				  docCommandVoid4("four args",
+						  "int",
+						  "int",
+						  "int",
+						  "int")));      
+      
+    }
+
+    ~CustomEntity()
+    {
+    }
+
+    void zero_arg()
+    {
+      test_zero_arg_ = true;
+    }
+
+    void one_arg(const int & )
+    {
+      test_one_arg_ = true;
+    }
+
+    void two_args(const int & ,
+		  const int & )
+    {
+      test_two_args_ = true;
+    }
+
+    void three_args(const int & ,
+		    const int & ,
+		    const int & )
+    {
+      test_three_args_ = true;
+    }
+    
+    void four_args(const int & ,
+		   const int & ,
+		   const int & ,
+		   const int & )
+    {
+      test_four_args_ = true;
+    }
+
+  };
+  DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CustomEntity,"CustomEntity");
+}
+
+
+BOOST_AUTO_TEST_CASE(command_test)
+{
+  dynamicgraph::CustomEntity& entity =
+    *(dynamic_cast<dynamicgraph::CustomEntity *>
+      (dynamicgraph::FactoryStorage::getInstance()->newEntity("CustomEntity",
+							      "my-entity")));
+
+  std::map<const std::string,Command *> aCommandMap =
+    entity.getNewStyleCommandMap();
+
+  std::map<const std::string,Command *>::iterator it_map;
+  
+  it_map = aCommandMap.find("0_arg");
+  if (it_map==aCommandMap.end())
+    BOOST_CHECK(false);
+  it_map->second->execute();
+  BOOST_CHECK(entity.test_zero_arg_);
+
+  int first_arg=1;
+  Value aValue(first_arg);
+  std::vector<std::string> vec_fname(4);
+  vec_fname[0]="1_arg";
+  vec_fname[1]="2_args";
+  vec_fname[2]="3_args";
+  vec_fname[3]="4_args";
+  std::vector<Value> values;
+  
+  for (unsigned int i=0;i<4;i++)
+    {
+      it_map = aCommandMap.find(vec_fname[i]);
+      if (it_map==aCommandMap.end())
+	BOOST_CHECK(false);
+      values.push_back(aValue);
+      it_map->second->setParameterValues(values);
+      it_map->second->execute();
+    }
+
+  BOOST_CHECK(entity.test_one_arg_);      
+  BOOST_CHECK(entity.test_two_args_);
+  BOOST_CHECK(entity.test_three_args_);
+  BOOST_CHECK(entity.test_four_args_);
+
+}