diff --git a/src/pcl_displayer.cpp b/src/pcl_displayer.cpp
deleted file mode 100644
index 6f96468..0000000
--- a/src/pcl_displayer.cpp
+++ /dev/null
@@ -1,49 +0,0 @@
-// a not very useful test tool
-#include <ros/ros.h>
-#include <pcl_ros/point_cloud.h>
-#include <pcl/point_types.h>
-
-#include <iostream>
-#include <string>
-#include <sstream>
-
-typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
-
-class Callback {
-  public:
-    void
-      operator()(const PointCloud::ConstPtr& msg)
-      {
-        std::ostringstream stream;
-        stream << "PointCloud published :" << std::endl;
-        for(int i = 0; i < msg->points.size(); ++i)
-        {
-          pcl::PointXYZRGB p = msg->points[i];
-          stream << std::endl
-            << "point # " << i << std::endl
-            << "x : " << p.x << std::endl
-            << "y : " << p.y << std::endl
-            << "z : " << p.z << std::endl
-            << "r : " << (int) p.r << std::endl
-            << "g : " << (int) p.g << std::endl
-            << "b : " << (int) p.b << std::endl;
-        }
-          ROS_INFO("%s", stream.str().c_str());
-      }
-};
-
-  int
-main(int argc, char** argv)
-{
-  ros::init(argc, argv, "pcl_displayer");
-  ros::NodeHandle node;
-
-  // initialisation
-  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, Callback());
-
-  // démarrage
-  ROS_INFO("node started");
-  ros::spin();
-  ROS_INFO("exit");
-  return 0;
-}
diff --git a/src/random_pcl_publisher.cpp b/src/random_pcl_publisher.cpp
deleted file mode 100644
index ea40b53..0000000
--- a/src/random_pcl_publisher.cpp
+++ /dev/null
@@ -1,104 +0,0 @@
-// a not very useful test programm
-#include <ros/ros.h>
-#include <time.h>
-#include <pcl_ros/point_cloud.h>
-#include <pcl/point_types.h>
-// for UniformGenerator
-#include <pcl/common/random.h>
-// for CloudGenerator
-#include <pcl/common/generate.h>
-
-typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
-typedef pcl::common::UniformGenerator<float> UGenerator;
-
-class Generator
-{
-  public:
-    Generator(int len, double m, double M)
-    : length(len), min(m), max(M), cgen(), number(0)
-    {
-      UGenerator::Parameters params(min, max, -1);
-      cgen.setParameters(params);
-    }
-
-    PointCloud::Ptr
-    operator()()
-    {
-      PointCloud::Ptr pcl(new PointCloud());
-      cgen.fill(length, length, *pcl);
-      for (int i = 0; i < pcl->points.size(); ++i)
-      {
-        pcl->points[i].r = (uint8_t) 175;
-        pcl->points[i].g = (uint8_t) 120;
-        pcl->points[i].b = (uint8_t) 118;
-      }
-      ros::Time now = ros::Time::now();
-      pcl->header.stamp =  now.toNSec() / 1000;
-      pcl->header.seq = number++;
-      pcl->header.frame_id = "0";
-      return pcl;
-    }
-
-  private:
-    pcl::common::CloudGenerator<pcl::PointXYZRGB, UGenerator> cgen;
-    int length;
-    double min, max;
-    uint32_t number;
-};
-
-int
-main(int argc, char** argv)
-{
-  ros::init(argc, argv, "random_pcl_publisher");
-  ros::NodeHandle node("random");
-  // paramètres
-  double freq;
-  if (node.getParam("freq", freq))
-  {
-    ROS_INFO("freq : %f" , freq);
-  } else {
-    node.setParam("freq", 10);
-    node.getParam("freq", freq);
-    ROS_INFO("freq : %f (default value)", freq);
-  }
-  double min, max;
-  if (node.getParam("min", min))
-  {
-    ROS_INFO("min : %f" , min);
-  } else {
-    node.setParam("min", 0.);
-    node.getParam("min", min);
-    ROS_INFO("min : %f (default value)", min);
-  }
-  if (node.getParam("max", max))
-  {
-    ROS_INFO("max : %f" , max);
-  } else {
-    node.setParam("max", 100.);
-    node.getParam("max", max);
-    ROS_INFO("max : %f (default value)", max);
-  }
-  int length;
-  if (node.getParam("length", length))
-  {
-    ROS_INFO("length : %d" , length);
-  } else {
-    node.setParam("length", 10);
-    node.getParam("length", length);
-    ROS_INFO("length : %d (default value)", length);
-  }
-  // initialisation
-  ros::Publisher  publisher = node.advertise<PointCloud>("output", 1);
-  Generator generator(length, min, max);
-  ros::Rate loop_rate(freq);
-  ROS_INFO("node started");
-  while (ros::ok())
-  {
-    publisher.publish(generator());
-    ROS_INFO("random PointCloud published");
-    ros::spinOnce();
-    loop_rate.sleep();
-  }
-  ROS_INFO("exit");
-  return 0;
-}