diff --git a/hand_control/src/normal_estimator.cpp b/hand_control/src/normal_estimator.cpp
new file mode 100644
index 0000000..cd1fe6e
--- /dev/null
+++ b/hand_control/src/normal_estimator.cpp
@@ -0,0 +1,28 @@
+#include <ros/ros.h>
+#include <pcl_ros/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/features/normal_3d.h>
+#include <geometry_msgs/Quaternion.h>
+
+typedef pcl::PointXYZRGB Point;
+typedef pcl::PointCloud<Point> PointCloud;
+typedef Eigen::Vector4f PCLCoord; // vecteur, accès par v(0), v(1)...
+typedef geometry_msgs::Quaternion ROSCoord; // struct : x, y, z, w
+
+int
+main(int argc, char** argv)
+{
+  ros::init(argc, argv, "normal_estimator");
+  ros::NodeHandle node("estimator");
+
+  // initialisation
+  ros::Publisher  publisher = node.advertise<ROSCoord>("output", 1);
+  Callback callback(publisher);
+  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
+
+  // démarrage
+  ROS_INFO("node started");
+  ros::spin();
+  ROS_INFO("exit");
+  return 0;
+}