diff --git a/hand_control/CMakeLists.txt b/hand_control/CMakeLists.txt
index 605d5d2..db4b01d 100644
--- a/hand_control/CMakeLists.txt
+++ b/hand_control/CMakeLists.txt
@@ -108,7 +108,9 @@ include_directories(
 # )
 
 ## Declare a cpp executable
-# add_executable(hand_control_node src/hand_control_node.cpp)
+add_executable(filtre src/filtre.cpp)
+target_link_libraries(filtre ${catkin_LIBRARIES})
+add_dependencies(filtre ${catkin_EXPORTED_TARGETS})
 
 ## Add cmake target dependencies of the executable/library
 ## as an example, message headers may need to be generated before nodes
diff --git a/hand_control/src/filtre.cpp b/hand_control/src/filtre.cpp
index fa014d1..4e75676 100644
--- a/hand_control/src/filtre.cpp
+++ b/hand_control/src/filtre.cpp
@@ -2,27 +2,26 @@
 #include <pcl_ros/point_cloud.h>
 #include <pcl/point_types.h>
 
-typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
+typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
 
-class Callback
-{
+class Callback {
   public:
-    operator()(const PointCloud::Ptr& msg)
-    {
-      pub.publish(*msg);
-    }
-
+    void operator()(const PointCloud::ConstPtr& msg)
+      {
+        // copie du nuage de point
+        PointCloud pcl = *msg;
+        // TODO : ôter les mauvais points
+        publisher.publish(pcl);
+      }
     Callback(ros::NodeHandle& node)
-    {
-      pub = node.advertise<PointCloud>("output", 1);
-    }
-
+      {
+        publisher = node.advertise<PointCloud>("output", 1);
+      }
   private:
-    ros::Publisher pub;
+    ros::Publisher publisher;
 };
 
-int
-main(int argc, char **argv)
+int main(int argc, char** argv)
 {
   ros::init(argc, argv, "filtre");
   ros::NodeHandle node;