diff --git a/CMakeLists.txt b/CMakeLists.txt
index 33f993b..85a9c62 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,6 +28,7 @@ catkin_package(CATKIN_DEPENDS
 include_directories  (${catkin_INCLUDE_DIRS})
 
 add_executable       (papillon src/papillon.cpp)
+add_executable       (control src/control.cpp)
 target_link_libraries(papillon ${catkin_LIBRARIES})
 set_property         (TARGET papillon APPEND PROPERTY INCLUDE_DIRECTORIES ${OpenCV_INCLUDE_DIRS})
 set_property         (TARGET papillon APPEND PROPERTY INCLUDE_DIRECTORIES ${catkin_INCLUDE_DIRS})
diff --git a/src/control.cpp b/src/control.cpp
new file mode 100644
index 0000000..f33d3ce
--- /dev/null
+++ b/src/control.cpp
@@ -0,0 +1,42 @@
+#include "ros/ros.h"
+#include <papillon/BoundingBox.h>
+#include <geometry_msgs/Twist.h>
+
+#include <opencv/cv.h>
+
+#include <sstream>
+
+using namespace std;
+
+class Drone_control {
+	public:
+		cv::Rect objectBoundingRectangle = cv::Rect(0,0,0,0);
+
+		ros::NodeHandle n;
+
+		ros::Publisher pub_cmd;
+		ros::Subscriber sub_box;
+
+
+		Drone_control() : n("~") {
+			pub_cmd = n.advertise<geometry_msgs::Twist>("/bebop/cmd_vel", 1);
+			sub_box = n.subscribe<papillon::BoundingBox>("/papillon/bbox", 1, &Drone_control::on_msg, this);
+		}
+
+
+		// This processes an image and publishes the result.
+		void on_msg(const papillon::BoundingBox::ConstPtr& bbox) {
+			ROS_INFO("plop");
+		}
+};
+
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "control");
+	Drone_control con=Drone_control();
+	ros::spin();
+
+	return 0;
+}
+