diff --git a/hand_control/src/filtre.cpp b/hand_control/src/filtre.cpp
index ad6dc45..8529eee 100644
--- a/hand_control/src/filtre.cpp
+++ b/hand_control/src/filtre.cpp
@@ -8,15 +8,18 @@ class Callback {
   public:
     void operator()(const PointCloud::ConstPtr& msg)
       {
+        ROS_INFO("PointCloud received");
+        // pour publier un shared_ptr (mieux)
+        PointCloud::Ptr pcl;
         // copie du nuage de point
-        PointCloud pcl = *msg;
+        *pcl = *msg;
         // TODO : ôter les mauvais points
         publisher.publish(pcl);
+        ROS_INFO("PointCloud published");
       }
-    Callback(ros::NodeHandle& node)
-      {
-        publisher = node.advertise<PointCloud>("output", 1);
-      }
+
+    Callback(ros::Publisher& pub) : publisher(pub) {}
+
   private:
     ros::Publisher publisher;
 };
@@ -25,8 +28,11 @@ int main(int argc, char** argv)
 {
   ros::init(argc, argv, "filtre");
   ros::NodeHandle node;
-  Callback callback(node);
-  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
+  ros::Publisher  publisher = node.advertise<PointCloud>("filtre_output", 1);
+  Callback callback(publisher);
+  ros::Subscriber subscriber = node.subscribe<PointCloud>("filtre_input", 1, callback);
+  ROS_INFO("node started");
   ros::spin();
+  ROS_INFO("exit");
   return 0;
 }
diff --git a/hand_control/src/random_pcl_publisher.cpp b/hand_control/src/random_pcl_publisher.cpp
new file mode 100644
index 0000000..e69de29