diff --git a/CMakeLists.txt b/CMakeLists.txt
index c8c9ac3..a5f9ae7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -50,6 +50,9 @@ add_library(display src/display.cpp)
 add_executable(keyboard_cmd src/keyboard_cmd.cpp)
 target_link_libraries(keyboard_cmd display ${catkin_LIBRARIES} ${ncursesw_LIBRARIES})
 
+add_executable(filtreRGB src/filtreRGB.cpp)
+target_link_libraries(filtreRGB ${catkin_LIBRARIES})
+
 add_executable(normal_estimator src/normal_estimator.cpp)
 target_link_libraries(normal_estimator ${catkin_LIBRARIES})
 add_dependencies(normal_estimator hand_control_generate_messages_cpp)
diff --git a/src/filtreRGB.cpp b/src/filtreRGB.cpp
new file mode 100644
index 0000000..ee1420a
--- /dev/null
+++ b/src/filtreRGB.cpp
@@ -0,0 +1,116 @@
+#include <ros/ros.h>
+#include <pcl_ros/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/filters/passthrough.h>
+
+typedef pcl::PointXYZRGB Point;
+typedef pcl::PointCloud<Point> PointCloud;
+
+class Callback {
+  public:
+    void
+    operator()(const PointCloud::ConstPtr& msg)
+    {
+      PointCloud::Ptr pcl(new PointCloud());
+      copy_info(msg, pcl);
+      BOOST_FOREACH (const Point& pt, msg->points)
+      {
+        if (abs(pt.r-red) <= delta and abs(pt.g-green) <= delta and abs(pt.b-blue) <= delta)
+          pcl->push_back(pt);
+      }
+      pcl->height = 1;
+      pcl->width = pcl->points.size();
+      publisher.publish(pcl);
+    }
+
+    Callback(ros::Publisher& pub, uint8_t r, uint8_t g, uint8_t b, uint8_t d)
+    : publisher(pub), delta(d), red(r), green(g), blue(b) {}
+
+  private:
+    ros::Publisher publisher;
+    uint8_t delta;
+
+    uint8_t red;
+    uint8_t green;
+    uint8_t blue;
+
+    inline
+    void
+    copy_info(const PointCloud::ConstPtr& a,
+              PointCloud::Ptr b)
+    {
+      b->header = a->header;
+      b->sensor_origin_ = a->sensor_origin_;
+      b->sensor_orientation_ = a->sensor_orientation_;
+      b->is_dense = a->is_dense;
+    }
+};
+
+int
+main(int argc, char** argv)
+{
+  ros::init(argc, argv, "filtreRGB");
+  ros::NodeHandle node("filtreRGB");
+
+  // récupération des paramètres
+  uint8_t red(0);
+  uint8_t blue(0);
+  uint8_t green(0);
+  
+  uint8_t delta(0);
+
+  int redInt;
+  int greenInt;
+  int blueInt;
+
+  int deltaInt;
+
+  if (node.getParam("red",  redInt))
+  {
+    ROS_INFO("red : %d" , redInt);
+  } else {
+    node.setParam("red", 0);
+    node.getParam("red", redInt);
+    ROS_INFO("red : %d (default value)", redInt);
+  }
+
+  if (node.getParam("blue", blueInt))
+  {
+  
+    ROS_INFO("blue : %d" , blueInt);
+  } else {
+    node.setParam("blue", 0);
+    node.getParam("blue", blueInt);
+    ROS_INFO("blue : %d (default value)", blueInt);
+  }
+
+  if (node.getParam("green", greenInt))
+  {
+    ROS_INFO("green : %d" , greenInt);
+  } else {
+    node.setParam("green", 0);
+    node.getParam("green", greenInt);
+    ROS_INFO("green : %d (default value)", greenInt);
+  }
+
+  if (node.getParam("delta", deltaInt))
+  {
+    ROS_INFO("delta : %d" , deltaInt);
+  } else {
+    node.setParam("delta", 0);
+    node.getParam("delta", deltaInt);
+    ROS_INFO("delta : %d (default value)", deltaInt);
+  }
+ 
+
+  // initialisatio
+  ros::Publisher  publisher = node.advertise<PointCloud>("output", 1);
+  Callback callback(publisher, (uint8_t) redInt, (uint8_t) greenInt, (uint8_t) blueInt, (uint8_t) deltaInt);
+  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
+
+  // démarrage
+  ROS_INFO("node started");
+  ros::spin();
+  ROS_INFO("exit");
+  return 0;
+}
diff --git a/src/keyboard_cmd.cpp b/src/keyboard_cmd.cpp
index 96bf5cb..3bf0e73 100644
--- a/src/keyboard_cmd.cpp
+++ b/src/keyboard_cmd.cpp
@@ -57,10 +57,10 @@ class Run
       cmdvel_callback(terminal),
       term(terminal),
       loop_rate(30),
-      x_speed(0.2),
-      y_speed(0.3),
-      z_speed(0.5),
-      turn(0.5) {
+      x_speed(0.05),
+      y_speed(0.05),
+      z_speed(0.05),
+      turn(0.1) {
         cmd =  n.advertise<geometry_msgs::Twist>("/cmd_vel",1);
         pub_takeoff =  n.advertise<std_msgs::Empty>("/ardrone/takeoff", 1);
         pub_land = n.advertise<std_msgs::Empty>("/ardrone/land", 1);