diff --git a/hand_control/launch/essai-filtre.launch b/hand_control/launch/essai-filtre.launch
new file mode 100644
index 0000000..b727328
--- /dev/null
+++ b/hand_control/launch/essai-filtre.launch
@@ -0,0 +1,9 @@
+<launch>
+  <param name="zmax" value="100." type="double" />
+  <node name="filtre_z" pkg="hand_control" type="filtre">
+    <remap from="filtre_input" to="random_pcl"/>
+  </node>
+  <node name="publisher" pkg="hand_control" type="random_pcl_publisher" >
+    <remap from="random_output" to="random_pcl"/>
+  </node>
+</launch>