diff --git a/my_pcl_tutorial/src/plannar_segmentation.cpp b/my_pcl_tutorial/src/plannar_segmentation.cpp
index 1adbf51..c56ff5f 100644
--- a/my_pcl_tutorial/src/plannar_segmentation.cpp
+++ b/my_pcl_tutorial/src/plannar_segmentation.cpp
@@ -106,7 +106,7 @@ cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
   center_msg.header.frame_id = input->header.frame_id;
   // ROS_INFO_STREAM("Center clioyf : "<<pcl_output->points[0]._PointXYZ::data[0]<<" / "<<pcl_output->points[0]._PointXYZ::data[1]<<" / "<<pcl_output->points[0]._PointXYZ::data[2]);
   // ROS_INFO_STREAM("barycentre : "<<barycentre(1,1)<<" / "<<barycentre(2,1)<<" / "<<barycentre(3,1)<<" / "<< barycentre(4,1));
-  ROS_INFO_STREAM("Center : "<<center_msg.point.x<<" / "<<center_msg.point.y<<" / "<<center_msg.point.z);
+  // ROS_INFO_STREAM("Center : "<<center_msg.point.x<<" / "<<center_msg.point.y<<" / "<<center_msg.point.z);
 
   //Envoie du nuage de points
   pcl::toPCLPointCloud2(*pcl_output,pcl_pc2);
diff --git a/rviz_interface/rviz_interface/msg/InterfaceConfig.msg b/rviz_interface/rviz_interface/msg/InterfaceConfig.msg
index 8753ee3..840a232 100644
--- a/rviz_interface/rviz_interface/msg/InterfaceConfig.msg
+++ b/rviz_interface/rviz_interface/msg/InterfaceConfig.msg
@@ -9,3 +9,6 @@ uint8 objective_type
 #Maximum distance error allowed arround the objective
 float32 max_error
 
+#Follow Object: boolean (true : les marqueur suivent les objets)
+uint8 follow_object
+
diff --git a/rviz_interface/rviz_interface/src/InteractiveObject.cpp b/rviz_interface/rviz_interface/src/InteractiveObject.cpp
index 7603785..6117f69 100644
--- a/rviz_interface/rviz_interface/src/InteractiveObject.cpp
+++ b/rviz_interface/rviz_interface/src/InteractiveObject.cpp
@@ -2,7 +2,7 @@
 
 unsigned int InteractiveObject::nextObjectID = 1;
 
-InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, unsigned int type, unsigned int shape = Marker::CUBE, const tf::Vector3& position = tf::Vector3(0,0,0)) : _name(name), _type(type), _server(server), _showVisuals(true)
+InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, unsigned int type, unsigned int shape = Marker::CUBE, const tf::Vector3& position = tf::Vector3(0,0,0)) : _name(name), _type(type), _server(server), _showVisuals(true), _followObject(true)
 {
 	_objectID = nextObjectID++;
 	_state.name = name;
@@ -11,9 +11,9 @@ InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServe
 
 	Marker marker;
 	marker.type = shape;
-	marker.scale.x = 0.45;
-	marker.scale.y = 0.45;
-	marker.scale.z = 0.45;
+	marker.scale.x = 0.1;
+	marker.scale.y = 0.1;
+	marker.scale.z = 0.1;
 	marker.color.r = 0.5;
 	marker.color.g = 0.5;
 	marker.color.b = 0.5;
@@ -52,6 +52,8 @@ void InteractiveObject::createInteractiveMarker(Marker& marker, const tf::Vector
 
 void InteractiveObject::processFeedback( const InteractiveMarkerFeedbackConstPtr &feedback )
 {
+	_followObject = false; //Objet manipulé -> on les libèrent
+	
 	//// Update Visual markers ////
 	// if(_showVisuals)
 	// {
@@ -277,4 +279,11 @@ void InteractiveObject::setErrorArea(double error)
 	_showVisuals = true;
 
 	_state.max_error = error;
+}
+
+void InteractiveObject::moveTo(const tf::Vector3& new_pos)
+{
+	tf::pointTFToMsg(new_pos, _int_marker.pose.position);
+	_server->insert(_int_marker);
+	_server->applyChanges();
 }
\ No newline at end of file
diff --git a/rviz_interface/rviz_interface/src/InteractiveObject.hpp b/rviz_interface/rviz_interface/src/InteractiveObject.hpp
index f8ab522..032b401 100644
--- a/rviz_interface/rviz_interface/src/InteractiveObject.hpp
+++ b/rviz_interface/rviz_interface/src/InteractiveObject.hpp
@@ -16,6 +16,7 @@ protected:
 	std::string _name;
 	unsigned int _type;
 	bool _showVisuals;
+	bool _followObject;
 	//std::vector<visualization_msgs::InteractiveMarker> _int_markers;
 	InteractiveMarker _int_marker;
 	// std::vector<Marker> _visual_markers;
@@ -43,9 +44,13 @@ public:
 	// void setVisualizationPublisher(ros::Publisher* visualization_pub){ _visualization_pub=visualization_pub;}
 	void setErrorArea(double error);
 
+	void moveTo(const tf::Vector3& new_pos);
+
 	//std::vector<visualization_msgs::InteractiveMarker>& markers(){ return _int_markers;}
 	InteractiveMarker& marker(){ return _int_marker;}
 	rviz_interface::StateSpace& state(){ return _state;}
+	bool isFollowing() const{ return _followObject;}
+	void follow(){ _followObject = true;}
 };
 
 #endif
\ No newline at end of file
diff --git a/rviz_interface/rviz_interface/src/InterfacePanel.cpp b/rviz_interface/rviz_interface/src/InterfacePanel.cpp
index bcbaa51..d698919 100644
--- a/rviz_interface/rviz_interface/src/InterfacePanel.cpp
+++ b/rviz_interface/rviz_interface/src/InterfacePanel.cpp
@@ -32,6 +32,9 @@ InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
   // Lay out the topic field above the control widget.
   QVBoxLayout* layout = new QVBoxLayout;
   _objective_type_editor = new QCheckBox( "Precise Objective" );
+  _reset_button = new QPushButton("Reset", this);
+
+  layout->addWidget( _reset_button );
   layout->addWidget( _objective_type_editor );
   layout->addLayout( error_layout );
   setLayout( layout );
@@ -50,6 +53,7 @@ InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
   // Next we make signal/slot connections.
   connect( _max_error_editor, SIGNAL( editingFinished() ), this, SLOT( updateError() ));
   connect( _objective_type_editor, SIGNAL( stateChanged(int) ), this, SLOT( updateType(int) ));
+  connect(_reset_button, SIGNAL (released()), this, SLOT (handleResetButton()));
   // connect( output_timer, SIGNAL( timeout() ), this, SLOT( sendVel() ));
 
   // Start the timer.
@@ -92,6 +96,16 @@ void InterfacePanel::updateType(int state)
   _max_error_editor->setEnabled( state ); //Active l'editeur d'erreur si state>0 (ie Objectif précis)
 }
 
+void InterfacePanel::handleResetButton()
+{
+  current_config.follow_object = true;
+  if( ros::ok() && _config_publisher )
+  {
+    _config_publisher.publish( current_config );
+  }
+  current_config.follow_object = false;
+}
+
 // void InterfacePanel::setError( const QString& error )
 // {
 //   current_config.max_error = error.toDouble();
diff --git a/rviz_interface/rviz_interface/src/InterfacePanel.hpp b/rviz_interface/rviz_interface/src/InterfacePanel.hpp
index c522cb9..f39fa2c 100644
--- a/rviz_interface/rviz_interface/src/InterfacePanel.hpp
+++ b/rviz_interface/rviz_interface/src/InterfacePanel.hpp
@@ -13,6 +13,7 @@
 #include <QLineEdit>
 // #include <QDoubleValidator>
 #include <QCheckBox>
+#include <QPushButton>
 #include <QVBoxLayout>
 #include <QHBoxLayout>
 #include <QLabel>
@@ -64,6 +65,7 @@ protected Q_SLOTS:
 
   void updateError();
   void updateType(int state);
+  void handleResetButton();
 
 
   // Then we finish up with protected member variables.
@@ -74,6 +76,7 @@ protected:
   // One-line text editor for entering the outgoing ROS topic name.
   QLineEdit* _max_error_editor;
   QCheckBox* _objective_type_editor;
+  QPushButton* _reset_button;
 
   // The current name of the output topic.
   // QString _max_error;
diff --git a/rviz_interface/rviz_interface/src/RvizInterface.cpp b/rviz_interface/rviz_interface/src/RvizInterface.cpp
index fafbfc8..bf23ad9 100644
--- a/rviz_interface/rviz_interface/src/RvizInterface.cpp
+++ b/rviz_interface/rviz_interface/src/RvizInterface.cpp
@@ -8,14 +8,15 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
 
 	//Topic you want to subscribe
 	_config_sub = _n.subscribe("/RvizInterface/interface_config", 1, &RvizInterface::configCallback, this);
+	_position_sub = _n.subscribe("/object_center", 1, &RvizInterface::positionCallback, this);
 
-	_objects.push_back(new InteractiveObject(&_server, "Test", (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::CUBE, tf::Vector3(0,0,0)));
+	_objects.push_back(new InteractiveObject(&_server, "Test", (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
 	// _objects[0].addButtonControl();
 	_objects[0]->add6DOFcontrol();
 
-	_objects.push_back(new InteractiveObject(&_server, "Test 2", (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::CUBE, tf::Vector3(3,3,0)));
-	// _objects[0].addButtonControl();
-	_objects[1]->add3DOFcontrol();
+	// _objects.push_back(new InteractiveObject(&_server, "Test 2", (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::CUBE, tf::Vector3(3,3,0)));
+	// // _objects[0].addButtonControl();
+	// _objects[1]->add3DOFcontrol();
 
 	for(unsigned int i=0;i<_objects.size();i++)
 	{
@@ -40,6 +41,25 @@ void RvizInterface::configCallback(const rviz_interface::InterfaceConfig & new_c
 		_objects[i]->state().objective_type = new_config.objective_type;
 		// _objects[i]->state().max_error = new_config.max_error;
 		_objects[i]->setErrorArea(new_config.max_error);
+
+		if(new_config.follow_object && !_objects[i]->isFollowing()) //Signal reset + pas de suivie
+		{
+			_objects[i]->follow(); //Le ùarquer suit de nouveau l'objet
+		}
+	}
+}
+
+//PROVISOIRE : Pour un seul objet avec test PCL
+void RvizInterface::positionCallback(const geometry_msgs::PointStamped & new_center)
+{
+	//Synchro des frames
+	_objects[0]->marker().header.frame_id = new_center.header.frame_id;
+
+	if(_objects[0]->isFollowing()) //Le marqueur suit l'objet
+	{
+		//Deplacement du marqueur
+		tf::Vector3 position = tf::Vector3(new_center.point.x,new_center.point.y,new_center.point.z);
+		_objects[0]->moveTo(position);
 	}
 }
 
diff --git a/rviz_interface/rviz_interface/src/RvizInterface.hpp b/rviz_interface/rviz_interface/src/RvizInterface.hpp
index d28f739..0ee7f7c 100644
--- a/rviz_interface/rviz_interface/src/RvizInterface.hpp
+++ b/rviz_interface/rviz_interface/src/RvizInterface.hpp
@@ -17,6 +17,7 @@ protected:
 	ros::Publisher _objective_pub;
 	ros::Publisher _visualization_pub;
 	ros::Subscriber _config_sub;
+	ros::Subscriber _position_sub;
 	
 	interactive_markers::InteractiveMarkerServer _server;
 
@@ -27,6 +28,7 @@ public:
 	~RvizInterface();
 
 	void configCallback(const rviz_interface::InterfaceConfig & new_config);
+	void positionCallback(const geometry_msgs::PointStamped & new_center);
 };
 
 #endif
\ No newline at end of file