diff --git a/hand_control/src/filtre.cpp b/hand_control/src/filtre.cpp
new file mode 100644
index 0000000..03f9f4b
--- /dev/null
+++ b/hand_control/src/filtre.cpp
@@ -0,0 +1,27 @@
+#include <ros/ros.h>
+#include <pcl_ros/point_cloud.h>
+#include <pcl/point_types.h>
+
+class Filtre {
+  private:
+    typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
+    ros::NodeHandle node;
+    ros::Subscriber sub;
+    void callback(PointCloud&);
+  public:
+    Filtre()
+    {
+      ros::init(argc, argv, "filtre");
+      callback(PointCloud& msg)
+      {
+        
+      }
+      subscriber = node.subscribe<PointCloud>("input", 1, callback);
+      ros::spin();
+    }
+};
+
+int main(int argc, char **argv)
+{
+  Filtre f();
+}