diff --git a/launch/all.launch b/launch/all.launch
index 728ab96..a9b8ea0 100644
--- a/launch/all.launch
+++ b/launch/all.launch
@@ -3,15 +3,16 @@
 
   <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
 
-  <node name="filtre_z" pkg="hand_control" type="filtre">
+  <node name="filtre" pkg="hand_control" type="filtre">
     <remap from="/filtre/input" to="/camera/xyzrgb/points"/>
   </node>
 
-  <param name="/filtre/zmax" value="0.9" type="double"/>
+  <param name="/filtre/zmax" value="1.1" type="double"/>
+  <param name="/filtre/hue" value="0.0" type="double"/>
+  <param name="/filtre/delta_hue" value="10.0" type="double"/>
 
   <node name="normal_estimator" pkg="hand_control" type="normal_estimator">
     <remap from="/estimator/input" to="/filtre/output"/>
   </node>
 
-
 </launch>