diff --git a/README.md b/README.md
index 2ac40fb..c0c4938 100644
--- a/README.md
+++ b/README.md
@@ -53,7 +53,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo
 * Run : roslaunch rviz_interface interface.launch
 * Setup rviz :
  - set fixed frame to camera_rgb_optical_frame.
- - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add an InteractiveMarker and set topic to (server_topic parameter)/update.
  - add a Marker and set topic to vizualization_topic parameter.
  - add the Rviz interface panel.
 
@@ -63,7 +63,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo
  - roslaunch rviz_interface interface_plannar_seg.launch
 * Setup rviz :
  - set fixed frame to camera_rgb_optical_frame.
- - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add an InteractiveMarker and set topic to (server_topic parameter)/update.
  - add a Marker and set topic to vizualization_topic parameter.
  - add the Rviz interface panel.
  - add a PointCloud2 and set topic to /camera/depth_registered/points.
@@ -80,7 +80,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo
  - roslaunch rviz_interface interface_matching.launch
 * Setup rviz :
  - set fixed frame to camera_rgb_optical_frame.
- - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add an InteractiveMarker and set topic to (server_topic parameter)/update.
  - add a Marker and set topic to vizualization_topic parameter.
  - add the Rviz interface panel.
  - add a PointCloud2 and set topic to /camera/depth_registered/points.
diff --git a/README.md~ b/README.md~
index db99591..0c0b993 100644
--- a/README.md~
+++ b/README.md~
@@ -30,7 +30,6 @@ Thus refrences are required for the module to work properly. It can be loaded th
 ### Done
 
 ### Todo
-rviz_interface - InteractiveObject : Solve the issue with the frame_id, so it could be chosen in the launch file.
 asift_matching - ASIFT_matcher : Issue on total number of match (after filtering ?).
 asift_matching - ROS_matcher : Working loader of images for reference.
 asift_matching - ROS_matcher : Improve reactivity. Slow process due to the message queue length ?
@@ -54,7 +53,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo
 * Run : roslaunch rviz_interface interface.launch
 * Setup rviz :
  - set fixed frame to camera_rgb_optical_frame.
- - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add an InteractiveMarker and set topic to (server_topic parameter)/update.
  - add a Marker and set topic to vizualization_topic parameter.
  - add the Rviz interface panel.
 
diff --git a/rviz_interface/launch/interface.launch b/rviz_interface/launch/interface.launch
index f7041ff..2586b0b 100644
--- a/rviz_interface/launch/interface.launch
+++ b/rviz_interface/launch/interface.launch
@@ -9,6 +9,7 @@
 	<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
 
 		<!--Topics/-->
+	<param name="server_topic" value="/RvizInterface"/>
 	<param name="objective_topic" value="/RvizInterface/state_objective"/>
 	<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
 	<param name="config_topic" value="/RvizInterface/interface_config"/>
diff --git a/rviz_interface/launch/interface.launch~ b/rviz_interface/launch/interface.launch~
index ac77ab8..2586b0b 100644
--- a/rviz_interface/launch/interface.launch~
+++ b/rviz_interface/launch/interface.launch~
@@ -3,11 +3,13 @@
 	
 	<!--Interface/-->
 		<!--Objects/-->
-	<param name="frame_id" value="/camera_rgb_optical_frame"/>
+	<param name="frame_id" value="/map"/>
+	<!--param name="frame_id" value="/camera_rgb_optical_frame"/-->
 	<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
 	<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
 
 		<!--Topics/-->
+	<param name="server_topic" value="/RvizInterface"/>
 	<param name="objective_topic" value="/RvizInterface/state_objective"/>
 	<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
 	<param name="config_topic" value="/RvizInterface/interface_config"/>
diff --git a/rviz_interface/launch/interface_matching.launch b/rviz_interface/launch/interface_matching.launch
index 9460e0d..157d5ce 100644
--- a/rviz_interface/launch/interface_matching.launch
+++ b/rviz_interface/launch/interface_matching.launch
@@ -8,6 +8,7 @@
 	<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
 
 		<!--Topics/-->
+	<param name="server_topic" value="/RvizInterface"/>
 	<param name="objective_topic" value="/RvizInterface/state_objective"/>
 	<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
 	<param name="config_topic" value="/RvizInterface/interface_config"/>
diff --git a/rviz_interface/launch/interface_matching.launch~ b/rviz_interface/launch/interface_matching.launch~
index 84b8b26..9460e0d 100644
--- a/rviz_interface/launch/interface_matching.launch~
+++ b/rviz_interface/launch/interface_matching.launch~
@@ -3,7 +3,6 @@
 
 	<!--Interface/-->
 		<!--Objects/-->
-	<!--param name="frame_id" value="/map"/-->
 	<param name="frame_id" value="/camera_rgb_optical_frame"/>
 	<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
 	<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
diff --git a/rviz_interface/src/InteractiveObject.cpp b/rviz_interface/src/InteractiveObject.cpp
index 0b5e330..3d2a0df 100644
--- a/rviz_interface/src/InteractiveObject.cpp
+++ b/rviz_interface/src/InteractiveObject.cpp
@@ -8,7 +8,10 @@
 
 unsigned int InteractiveObject::nextObjectID = 1;
 
-//Constructeur
+/*
+ * Constructor.
+ * 
+ */
 InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, const std::string& frame_id, unsigned int type, unsigned int shape = Marker::CUBE, const tf::Vector3& position) : _name(name), _type(type), _server(server), _showVisuals(true), _followObject(true)
 {
 	_objectID = nextObjectID++;
diff --git a/rviz_interface/src/RvizInterface.cpp b/rviz_interface/src/RvizInterface.cpp
index 9a0d21d..1355871 100644
--- a/rviz_interface/src/RvizInterface.cpp
+++ b/rviz_interface/src/RvizInterface.cpp
@@ -7,8 +7,12 @@
 
 #include "RvizInterface.hpp"
 
-//Constructeur
-RvizInterface::RvizInterface(): _server("RvizInterface")
+/*
+ * Constructor.
+ * Launch the Rviz Interface with on the parameters from the launch file.
+ * server_topic : Topic name of the interactive markers server.
+ */
+RvizInterface::RvizInterface(const std::string & server_topic): _server(server_topic)
 {
 	std::string objective_topic, vizualization_topic, config_topic, position_topic;
 	std::vector<std::string> object_names;
@@ -153,7 +157,11 @@ int main(int argc, char **argv)
   //Initiate ROS
   ros::init(argc, argv, "Rviz_Interface");
 
-  RvizInterface Interface;
+  ros::NodeHandle nh;
+  std::string server_topic;
+  nh.param<std::string>("server_topic", server_topic,"RvizInterface");
+
+  RvizInterface Interface(server_topic);
 
   ros::spin();
 
diff --git a/rviz_interface/src/RvizInterface.hpp b/rviz_interface/src/RvizInterface.hpp
index bb12bc1..33506bd 100644
--- a/rviz_interface/src/RvizInterface.hpp
+++ b/rviz_interface/src/RvizInterface.hpp
@@ -39,7 +39,7 @@ protected:
 	std::vector<InteractiveObject*> _objects;
 
 public: 
-	RvizInterface();
+	RvizInterface(const std::string & server_topic);
 	~RvizInterface();
 
 	//Fonction Callback du panel Rviz gérant les configurations