diff --git a/hand_control/launch/all.launch b/hand_control/launch/all.launch
index 95e4e9b..5cfd6a4 100644
--- a/hand_control/launch/all.launch
+++ b/hand_control/launch/all.launch
@@ -1,5 +1,12 @@
 
 <launch>
-  <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch">
-  </include>
+
+  <include file="$(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"/>
+  </node>
+
 </launch>
diff --git a/hand_control/launch/freenect-registered-xyzrgb.launch b/hand_control/launch/freenect-registered-xyzrgb.launch
index 4ba0092..d03d93e 100644
--- a/hand_control/launch/freenect-registered-xyzrgb.launch
+++ b/hand_control/launch/freenect-registered-xyzrgb.launch
@@ -14,7 +14,7 @@
     <arg name="hw_registered_processing"        value="true" />
 
     <!-- remapping -->
-    <arg name="depth_registered"                value="xyzrgb_pcl" />
+    <arg name="depth_registered"                value="xyzrgb"/>
 
   </include>
 </launch>