diff --git a/hand_control/launch/all.launch b/hand_control/launch/all.launch
index 5cfd6a4..cb118bc 100644
--- a/hand_control/launch/all.launch
+++ b/hand_control/launch/all.launch
@@ -2,11 +2,11 @@
 <launch>
 
   <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
-  
-  <param name="zmax" value="50.0" type="double"/>
 
   <node name="filtre_z" pkg="hand_control" type="filtre">
-    <remap from="filtre_input" to="/camera/xyzrgb/points"/>
+    <remap from="/filtre/input" to="/camera/xyzrgb/points"/>
   </node>
 
+  <param name="/filtre/zmax" value="50.0" type="double"/>
+
 </launch>
diff --git a/hand_control/launch/essai-filtre.launch b/hand_control/launch/essai-filtre.launch
index b727328..280b9b4 100644
--- a/hand_control/launch/essai-filtre.launch
+++ b/hand_control/launch/essai-filtre.launch
@@ -1,9 +1,14 @@
 <launch>
-  <param name="zmax" value="100." type="double" />
+
   <node name="filtre_z" pkg="hand_control" type="filtre">
-    <remap from="filtre_input" to="random_pcl"/>
+    <remap from="/filtre/input" to="random_pcl"/>
   </node>
+  <param name="/filtre/zmax" value="100." type="double" />
+
   <node name="publisher" pkg="hand_control" type="random_pcl_publisher" >
-    <remap from="random_output" to="random_pcl"/>
+    <remap from="/random/output" to="random_pcl"/>
   </node>
+  <param name="/random/freq" value="1." type="double" />
+  <param name="/random/length" value="5" type="int" />
+
 </launch>
diff --git a/hand_control/src/filtre.cpp b/hand_control/src/filtre.cpp
index ec6c88b..fcde972 100644
--- a/hand_control/src/filtre.cpp
+++ b/hand_control/src/filtre.cpp
@@ -52,7 +52,7 @@ int
 main(int argc, char** argv)
 {
   ros::init(argc, argv, "filtre");
-  ros::NodeHandle node;
+  ros::NodeHandle node("filtre");
 
   // récupération des paramètres
   double zmax(0);
@@ -66,9 +66,9 @@ main(int argc, char** argv)
   }
 
   // initialisation
-  ros::Publisher  publisher = node.advertise<PointCloud>("filtre_output", 1);
+  ros::Publisher  publisher = node.advertise<PointCloud>("output", 1);
   Callback callback(publisher);
-  ros::Subscriber subscriber = node.subscribe<PointCloud>("filtre_input", 1, callback);
+  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
 
   // démarrage
   ROS_INFO("node started");
diff --git a/hand_control/src/random_pcl_publisher.cpp b/hand_control/src/random_pcl_publisher.cpp
index 8cd77f9..1d2d2c6 100644
--- a/hand_control/src/random_pcl_publisher.cpp
+++ b/hand_control/src/random_pcl_publisher.cpp
@@ -85,7 +85,7 @@ main(int argc, char** argv)
     ROS_INFO("length : %d (default value)", length);
   }
   // initialisation
-  ros::Publisher  publisher = node.advertise<PointCloud>("random_output", 1);
+  ros::Publisher  publisher = node.advertise<PointCloud>("output", 1);
   Generator generator(length, min, max);
   ros::Rate loop_rate(freq);
   ROS_INFO("node started");