diff --git a/Rapport fonctionnemet.odt b/Rapport fonctionnemet.odt
new file mode 100644
index 0000000..fae66db
Binary files /dev/null and b/Rapport fonctionnemet.odt differ
diff --git a/supervizer/CMakeLists.txt b/supervizer/CMakeLists.txt
new file mode 100644
index 0000000..ab81ce6
--- /dev/null
+++ b/supervizer/CMakeLists.txt
@@ -0,0 +1,216 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(supervizer)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+ add_message_files(
+   FILES
+   beacon.msg
+   #Reste a mettre les messages propres à chaque fichier"
+   #
+   #
+ )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+ generate_messages(
+   DEPENDENCIES
+   std_msgs
+ )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES supervizer
+  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
+  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(supervizer
+#   src/${PROJECT_NAME}/supervizer.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(supervizer ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(supervizer_node src/supervizer_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(supervizer_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(supervizer_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS supervizer supervizer_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_supervizer.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+include_directories(include 
+  
+  
+  ${catkin_INCLUDE_DIRS})
+
+add_executable(supervizer 
+        src/supervizer.cpp
+        src/CStockage.cpp
+        )
+target_link_libraries(supervizer ${catkin_LIBRARIES})
+add_dependencies(supervizer supervizer_generate_messages_cpp)
+
+add_executable(node_test 
+        src/node_test.cpp
+        )
+target_link_libraries(node_test ${catkin_LIBRARIES})
+add_dependencies(node_test supervizer_generate_messages_cpp)
+
+
+add_executable(deuxio 
+        src/deuxio.cpp
+        )
+target_link_libraries(deuxio ${catkin_LIBRARIES})
+add_dependencies(deuxio supervizer_generate_messages_cpp)
\ No newline at end of file
diff --git a/supervizer/include/CStockage.h b/supervizer/include/CStockage.h
new file mode 100644
index 0000000..c81d5dd
--- /dev/null
+++ b/supervizer/include/CStockage.h
@@ -0,0 +1,51 @@
+
+#ifndef CSTOCKAGE
+#define CSTOCKAGE
+
+
+
+#include "ros/ros.h"
+#include "supervizer/beacon.h"
+#include "std_msgs/Time.h"
+#include "std_msgs/Duration.h"
+#include <cstdio>
+#include <time.h>
+#include <string.h>
+#include <sstream>
+#include <iostream>
+
+using std::string;  
+using namespace std;
+
+class CStockage{
+ private:
+  string m_sName, m_sTopic_In, m_sTopic_Out;
+  bool m_bState;
+  ros::Time essai;
+  std_msgs::Time m_tTps_Reception;
+  std_msgs::Duration m_dDead_line;
+  ros::Publisher m_pubEch;
+  ros::Subscriber m_subEch;
+  ros::NodeHandle* m_nohNode;
+  
+ public:
+  CStockage(void);
+  CStockage(string, string, string, ros::Time , ros::Duration, ros::NodeHandle*);
+  ~CStockage(void);
+  void callback(const std_msgs::Time&);
+  void subscribe(void);
+  void transmission(void);
+  void repub(void);
+
+  void setData(ros::Time temps){essai = temps;};
+  void setTime(ros::Time temps){m_tTps_Reception.data = temps;};
+  void setDuration(ros::Duration dur){m_dDead_line.data = dur;};
+  void setState(bool etat){m_bState = etat;};
+
+  ros::Time getTime(void){return m_tTps_Reception.data;};
+  ros::Duration getDuration(void){return m_dDead_line.data;};
+  std::string getName(void){return m_sName;};
+
+};
+
+#endif
\ No newline at end of file
diff --git a/supervizer/msg/beacon.msg b/supervizer/msg/beacon.msg
new file mode 100644
index 0000000..baf522b
--- /dev/null
+++ b/supervizer/msg/beacon.msg
@@ -0,0 +1,6 @@
+string name
+time r_time
+int8 state
+string In_topic
+string Out_topic
+duration dead_line
diff --git a/supervizer/package.xml b/supervizer/package.xml
new file mode 100644
index 0000000..92eecaf
--- /dev/null
+++ b/supervizer/package.xml
@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<package>
+  <name>supervizer</name>
+  <version>0.0.1</version>
+  <description>The supervizer package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="francois.duport@hotmail.fr">François Duport</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/supervizer</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/supervizer/src/CStockage.cpp b/supervizer/src/CStockage.cpp
new file mode 100644
index 0000000..77e1a8b
--- /dev/null
+++ b/supervizer/src/CStockage.cpp
@@ -0,0 +1,74 @@
+#include "CStockage.h"
+
+CStockage::CStockage(void)
+  :m_sName("default"),m_sTopic_In("input"),m_sTopic_Out("output"),m_bState(false)
+{
+  m_tTps_Reception.data = ros::Time(0);
+  m_dDead_line.data= ros::Duration(60);
+}
+  CStockage::CStockage(string sName, string sTopic_In, string sTopic_Out,
+   ros::Time temps = ros::Time::now(), ros::Duration dead_line = ros::Duration(60),ros::NodeHandle* pnh = NULL)
+  :m_sName(sName),m_sTopic_In(sTopic_In),m_sTopic_Out(sTopic_Out),m_bState(false),m_nohNode(pnh)
+{
+  essai = ros::Time(0);
+  m_tTps_Reception.data = temps;
+  m_dDead_line.data= dead_line;
+  this->subscribe();
+  m_pubEch = m_nohNode->advertise<std_msgs::Time>(m_sTopic_Out, 1000);
+}
+CStockage::~CStockage(void)
+{
+}
+
+void CStockage::callback(const std_msgs::Time &msg)
+{
+  //TODO Adapter aux echanges complets
+ // ROS_INFO_STREAM(endl<<"Reception : " << this->getName() << endl);
+  ros::Time tmp = msg.data;
+
+  this->setData(tmp);
+  ROS_INFO_STREAM("Temps: "<< this->essai<<" Node :"<< this ->m_sName << " I/O : "<< m_sTopic_In << " "<< m_sTopic_Out);
+
+}
+void CStockage::subscribe()
+{
+  m_subEch = m_nohNode->subscribe(m_sTopic_In, 10,&CStockage::callback,this);
+}
+
+void CStockage::repub(void)
+{
+  //TODO Réecrire pour le message complet
+  ROS_INFO_STREAM("J'envoie de "<< this-> m_sName);
+  this->m_pubEch.publish(this->m_tTps_Reception);
+}
+
+void CStockage::transmission(void)
+{
+  //TODO adapter au vrai message
+ 
+  
+  ros::Rate loop_rate(1000);
+
+  while (ros::ok())
+    {
+
+      std_msgs::Time msg;
+
+	
+      msg.data = m_tTps_Reception.data + ros::Duration(1);
+
+      ROS_INFO_STREAM("Time : " << msg.data);
+
+      /**
+       * The publish() function is how you send messages. The parameter
+       * is the message object. The type of this object must agree with the type
+       * given as a template parameter to the advertise<>() call, as was done
+       * in the constructor above.
+       *
+       */
+      this->m_pubEch.publish(msg);
+      //TODO looprate
+      ros::spinOnce();
+	 
+    }
+}
diff --git a/supervizer/src/deuxio.cpp b/supervizer/src/deuxio.cpp
new file mode 100644
index 0000000..7e3bc3c
--- /dev/null
+++ b/supervizer/src/deuxio.cpp
@@ -0,0 +1,88 @@
+#include "ros/ros.h"
+#include "supervizer/beacon.h"
+#include "std_msgs/Time.h"
+#include "std_msgs/Duration.h"
+#include <cstdio>
+
+
+#include <sstream>
+using std::string;
+using std::vector;
+using namespace std;
+
+ros::Publisher beacon_pub ;
+ros::Publisher stockage_pub ;
+ros::Time tpsmemoire = ros::Time(0);
+std::string g_sNomNode, g_sNomIn, g_sNomOut;
+ros::NodeHandle* g_nhNode;
+void transmission_stockage(void)
+{
+
+  
+  std_msgs::Time msg;
+  msg.data = tpsmemoire;
+  stockage_pub.publish(msg);
+  ROS_INFO_STREAM("Send time : " <<msg.data);
+
+}     
+
+void transmission_beacon(void)
+{
+  supervizer::beacon msg;
+  msg.name = g_sNomNode;
+  msg.r_time = ros::Time::now();
+  msg.state = true;
+  msg.In_topic = g_sNomIn;
+  msg.Out_topic = g_sNomOut;
+  msg.dead_line = ros::Duration(60);
+  /*
+      Pour l'instant usage de deux string pour les noms de topics avant normalisations
+      string name
+      time r_time
+      int8 state
+      string In_topic
+      string Out_topic
+      duration dead_line
+  */
+  ros::Time now = ros ::Time::now();
+  ROS_INFO_STREAM("Send beacon :"<<msg.name <<endl<< "Time: " <<ros::Time::now() << endl
+   <<    "Etat :"<< (msg.state?"Actif!":"Idle!") << endl << "Topic d'entrée : "<< msg.In_topic << endl
+    <<"Topic de sortie : " << msg.Out_topic <<endl << "Latence : "<< msg.dead_line);
+  beacon_pub.publish(msg);
+}     
+
+  void chatterCallback(const std_msgs::Time &msg)
+{
+  //TODO Adapter aux echanges complets et penser a enregistrer les données
+  ROS_INFO_STREAM("Temps :"<<msg.data);
+}
+
+
+int main(int argc, char **argv)
+  {
+    g_sNomNode = "deuxieme_test";
+    g_sNomOut = "Sortie_2";
+    g_sNomIn ="Entree_2";
+    ros::init(argc, argv, g_sNomNode);
+    //TODO envoie et receptions de données
+    
+    ros::NodeHandle n;
+    g_nhNode = &n;
+    beacon_pub = g_nhNode->advertise<supervizer::beacon>("beacon", 1000);
+    stockage_pub = g_nhNode->advertise<std_msgs::Time>(g_sNomOut, 1000);
+ 
+     ros::Subscriber sub = g_nhNode->subscribe(g_sNomIn, 10, chatterCallback);
+    
+    ros::Rate loop_rate(1);
+
+    while (ros::ok())
+      {
+        transmission_beacon();
+        transmission_stockage();
+        tpsmemoire = tpsmemoire +ros::Duration(100);
+        ros::spinOnce();
+        loop_rate.sleep();
+      }
+  
+  return 0;
+  }
\ No newline at end of file
diff --git a/supervizer/src/node_test.cpp b/supervizer/src/node_test.cpp
new file mode 100644
index 0000000..c61ea18
--- /dev/null
+++ b/supervizer/src/node_test.cpp
@@ -0,0 +1,87 @@
+#include "ros/ros.h"
+#include "supervizer/beacon.h"
+#include "std_msgs/Time.h"
+#include "std_msgs/Duration.h"
+#include <cstdio>
+
+
+#include <sstream>
+using std::string;
+using std::vector;
+using namespace std;
+
+ros::Publisher beacon_pub ;
+ros::Publisher stockage_pub ;
+ 
+std::string g_sNomNode, g_sNomIn, g_sNomOut;
+ros::NodeHandle* g_nhNode;
+void transmission_stockage(void)
+{
+
+  
+  std_msgs::Time msg;
+  msg.data = ros::Time::now();
+  stockage_pub.publish(msg);
+  ROS_INFO_STREAM("Send time : " <<msg.data);
+
+}     
+
+void transmission_beacon(void)
+{
+  supervizer::beacon msg;
+  msg.name = g_sNomNode;
+  msg.r_time = ros::Time::now();
+  msg.state = true;
+  msg.In_topic = g_sNomIn;
+  msg.Out_topic = g_sNomOut;
+  msg.dead_line = ros::Duration(60);
+  /*
+      Pour l'instant usage de deux string pour les noms de topics avant normalisations
+      string name
+      time r_time
+      int8 state
+      string In_topic
+      string Out_topic
+      duration dead_line
+  */
+  ros::Time now = ros ::Time::now();
+  ROS_INFO_STREAM("Send beacon :"<<msg.name <<endl<< "Time: " <<ros::Time::now() << endl
+   <<    "Etat :"<< (msg.state?"Actif!":"Idle!") << endl << "Topic d'entrée : "<< msg.In_topic << endl
+    <<"Topic de sortie : " << msg.Out_topic <<endl << "Latence : "<< msg.dead_line);
+  beacon_pub.publish(msg);
+}     
+
+  void chatterCallback(const std_msgs::Time &msg)
+{
+  //TODO Adapter aux echanges complets et penser a enregistrer les données
+  ROS_INFO_STREAM("Temps :"<<msg.data);
+}
+
+
+int main(int argc, char **argv)
+  {
+    g_sNomNode = "node_test";
+    g_sNomOut = "Out_nt";
+    g_sNomIn ="In_nt";
+    ros::init(argc, argv, g_sNomNode);
+    //TODO envoie et receptions de données
+    
+    ros::NodeHandle n;
+    g_nhNode = &n;
+    beacon_pub = g_nhNode->advertise<supervizer::beacon>("beacon", 1000);
+    stockage_pub = g_nhNode->advertise<std_msgs::Time>(g_sNomOut, 1000);
+ 
+     ros::Subscriber sub = g_nhNode->subscribe(g_sNomIn, 10, chatterCallback);
+    
+    ros::Rate loop_rate(1);
+
+    while (ros::ok())
+      {
+        transmission_beacon();
+        transmission_stockage();
+        ros::spinOnce();
+        loop_rate.sleep();
+      }
+  
+  return 0;
+  }
\ No newline at end of file
diff --git a/supervizer/src/supervizer.cpp b/supervizer/src/supervizer.cpp
new file mode 100644
index 0000000..1f0a58c
--- /dev/null
+++ b/supervizer/src/supervizer.cpp
@@ -0,0 +1,126 @@
+#include "ros/ros.h"
+#include "supervizer/beacon.h"
+#include "std_msgs/Time.h"
+#include "std_msgs/Duration.h"
+#include <cstdio>
+#include "topic_tools/shape_shifter.h"
+#include "topic_tools/parse.h"
+#include "CStockage.h"
+
+#include "stdio.h"
+#include <sstream>
+using std::string;
+using std::vector;
+using namespace topic_tools;
+using namespace std;
+std::vector<CStockage*> g_tab_nodes;
+ros::NodeHandle* g_node;
+
+/*
+***** Le superviseur ne publie rien de lui meme ******
+void transmission(void)
+{
+   ros::Publisher chatter_pub = n.advertise<supervizer::beacon>("chatter", 1000);
+
+  ros::Rate loop_rate(10);
+
+  int count = 0;
+  while (ros::ok())
+    {
+
+      std_msgs::String msg;
+
+      std::stringstream ss;
+      ss << "hello world " << count;
+      msg.data = ss.str();
+
+      ROS_INFO("%s", msg.data.c_str());
+
+      /**
+       * The publish() function is how you send messages. The parameter
+       * is the message object. The type of this object must agree with the type
+       * given as a template parameter to the advertise<>() call, as was done
+       * in the constructor above.
+       *
+      chatter_pub.publish(msg);
+
+      ros::spinOnce();
+std_msgs::String
+      loop_rate.sleep();
+      ++count;
+    }
+}
+*/
+  void beaconCallback(const supervizer::beacon::ConstPtr& msg)
+{
+  ROS_INFO_STREAM("I heard: "<< msg->name.c_str() <<" " << msg->In_topic.c_str() << endl
+   << msg->Out_topic.c_str()<< " " << (msg->state?"Actif!":"Idle!")<< " "<<msg->r_time.toSec()<< " " << msg->dead_line.toSec()<<endl);
+  int taille = g_tab_nodes.size(),i=0;
+  bool research = false;
+  while(research == false)
+  {
+    if(g_tab_nodes.size() != 0 && g_tab_nodes[i]->getName() == msg->name.c_str())
+    {
+      ROS_INFO("Modification");
+      g_tab_nodes[i]->setTime(msg->r_time);
+      ROS_INFO_STREAM("Temps enregistré " << g_tab_nodes[i]->getTime());
+      g_tab_nodes[i]->setDuration(msg->dead_line);
+      g_tab_nodes[i]->setState(msg->state);
+
+      ROS_INFO_STREAM("Ici on gere" << g_tab_nodes[i]->getName());
+      research = true;
+    }
+    else if(g_tab_nodes.size()!= 0 && i<taille && g_tab_nodes[i]->getName() != msg->name.c_str())
+    {
+      ROS_INFO("Test ++");
+      i++;
+    }
+    else if (g_tab_nodes.size() == 0  || i>=taille)
+    {
+      ROS_INFO("Ajout");
+      CStockage* S2 = new CStockage(msg->name.c_str(),msg->Out_topic.c_str(), msg->In_topic.c_str(),
+      msg->r_time, msg->dead_line, g_node);
+      g_tab_nodes.push_back(S2);
+      research = true;
+
+    }
+    else 
+    {
+      ROS_INFO("Error IF beacon callBack out of range");
+    }
+  }
+   
+
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "supervizer");
+  
+  ros::NodeHandle n;
+  g_node = &n;
+  ros::Subscriber sub = g_node->subscribe("beacon", 10, beaconCallback);
+ 
+  while(ros::ok())
+  {
+    ros::Rate loop_rate(1);
+    if(g_tab_nodes.size() != 0)
+    {
+      int taille = g_tab_nodes.size(),i=0;
+      ROS_INFO("Taille vecteur : %d", taille);
+      {
+        g_tab_nodes[i]->repub();
+        i++;
+      }
+    }
+    loop_rate.sleep();
+    ros::spinOnce();
+  }
+  while(g_tab_nodes.size()!=0)
+  {
+    delete(g_tab_nodes[g_tab_nodes.size()-1]);
+    g_tab_nodes.pop_back();
+
+  }
+  return 0;
+}