diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9ed17ae..33f993b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,16 +6,25 @@ find_package(catkin REQUIRED COMPONENTS
   std_msgs
   image_transport
   cv_bridge
+  message_generation
 )
 find_package(OpenCV)
 
+add_message_files(
+  FILES
+  BoundingBox.msg
+)
+
+generate_messages()
 catkin_package(CATKIN_DEPENDS
   roscpp
   std_msgs
   image_transport
   cv_bridge
+  message_runtime
 )
 
+
 include_directories  (${catkin_INCLUDE_DIRS})
 
 add_executable       (papillon src/papillon.cpp)
diff --git a/msg/BoundingBox.msg b/msg/BoundingBox.msg
new file mode 100644
index 0000000..27213ee
--- /dev/null
+++ b/msg/BoundingBox.msg
@@ -0,0 +1,4 @@
+float64 x
+float64 y
+float64 width
+float64 height
diff --git a/package.xml b/package.xml
index 7ecb2ec..7e113fa 100644
--- a/package.xml
+++ b/package.xml
@@ -45,10 +45,12 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>cv_bridge</build_depend>
+  <build_depend>message_generation</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>cv_bridge</run_depend>
+  <run_depend>message_runtime</run_depend>
 
 
 
diff --git a/src/papillon.cpp b/src/papillon.cpp
index 653558f..acc8fb9 100644
--- a/src/papillon.cpp
+++ b/src/papillon.cpp
@@ -2,7 +2,7 @@
 #include <image_transport/image_transport.h>
 #include <cv_bridge/cv_bridge.h>
 #include <sensor_msgs/image_encodings.h>
-#include <geometry_msgs/Twist.h>
+#include <papillon/BoundingBox.h>
 
 #include <opencv/cv.h>
 
@@ -19,7 +19,7 @@ class Traite_image {
 		cv::Mat prev;
 		cv::Mat last_T;
 		bool first = true;
-		int resize_f = 2;
+		int resize_f = 1;
 
 		int theObject[2] = {0,0};
 		cv::Rect objectBoundingRectangle = cv::Rect(0,0,0,0);
@@ -34,7 +34,7 @@ class Traite_image {
 
 		Traite_image() : n("~"),it(n) {
 			pub_img = it.advertise("/image_out", 1);
-			pub_cmd = n.advertise<geometry_msgs::Twist>("/vrep/drone/cmd_vel", 1);
+			pub_cmd = n.advertise<papillon::BoundingBox>("/bbox", 1);
 			sub = it.subscribe("/usb_cam/image_raw", 1, [this](const sensor_msgs::ImageConstPtr& img) -> void { this->on_image(img);},ros::VoidPtr(),image_transport::TransportHints("compressed"));
 		}