MarkB
Legend
The rules are not perfectly clear on this, so I guess you can expect to see different DMs ruling differently.
The rules do say that if you come out of hiding and approach a creature, it usually sees you. Even if you rule that the rogue is considered Hidden for sneak attack purpose despite that fact that he is seen now, the fact that the paladin can now see him will allow the Command held action to trigger, before the attack occurs.