diff --git a/gripper_client/CMakeLists.txt b/gripper_client/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dd91b349931b003a5fa53ced4e65f3271f749804
--- /dev/null
+++ b/gripper_client/CMakeLists.txt
@@ -0,0 +1,103 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gripper_client)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED)
+# ********************************************************************
+# Add catkin additional components here
+# ********************************************************************
+find_package(catkin REQUIRED COMPONENTS iri_base_algorithm humanoid_modules)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+# ********************************************************************
+# Add system and labrobotica dependencies here
+# ********************************************************************
+# find_package(<dependency> REQUIRED)
+find_package(iriutils REQUIRED)
+
+# ********************************************************************
+# Add topic, service and action definition here
+# ********************************************************************
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## 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 # Or other packages containing msgs
+# )
+
+# ********************************************************************
+# Add the dynamic reconfigure file
+# ********************************************************************
+generate_dynamic_reconfigure_options(cfg/GripperClient.cfg)
+
+# ********************************************************************
+# Add run time dependencies here
+# ********************************************************************
+catkin_package(
+# INCLUDE_DIRS
+# LIBRARIES
+# ********************************************************************
+# Add ROS and IRI ROS run time dependencies
+# ********************************************************************
+ CATKIN_DEPENDS iri_base_algorithm humanoid_modules
+# ********************************************************************
+# Add system and labrobotica run time dependencies here
+# ********************************************************************
+# DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+# ********************************************************************
+# Add the include directories
+# ********************************************************************
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+include_directories(${iriutils_INCLUDE_DIR})
+# include_directories(${<dependency>_INCLUDE_DIR})
+
+## Declare a cpp library
+# add_library(${PROJECT_NAME} <list of source files>)
+
+## Declare a cpp executable
+add_executable(${PROJECT_NAME} src/gripper_client_alg.cpp src/gripper_client_alg_node.cpp)
+
+# ********************************************************************
+# Add the libraries
+# ********************************************************************
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY})
+# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
+
+# ********************************************************************
+# Add message headers dependencies
+# ********************************************************************
+# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
+# ********************************************************************
+# Add dynamic reconfigure dependencies
+# ********************************************************************
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
diff --git a/gripper_client/cfg/GripperClient.cfg b/gripper_client/cfg/GripperClient.cfg
new file mode 100755
index 0000000000000000000000000000000000000000..777bd3a19f2d965fb579df5d08e9dc18d5c0be50
--- /dev/null
+++ b/gripper_client/cfg/GripperClient.cfg
@@ -0,0 +1,50 @@
+#! /usr/bin/env python
+#* All rights reserved.
+#*
+#* Redistribution and use in source and binary forms, with or without
+#* modification, are permitted provided that the following conditions
+#* are met:
+#*
+#* * Redistributions of source code must retain the above copyright
+#* notice, this list of conditions and the following disclaimer.
+#* * Redistributions in binary form must reproduce the above
+#* copyright notice, this list of conditions and the following
+#* disclaimer in the documentation and/or other materials provided
+#* with the distribution.
+#* * Neither the name of the Willow Garage nor the names of its
+#* contributors may be used to endorse or promote products derived
+#* from this software without specific prior written permission.
+#*
+#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#* POSSIBILITY OF SUCH DAMAGE.
+#***********************************************************
+
+# Author:
+
+PACKAGE='gripper_client'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+# Name Type Reconfiguration level Description Default Min Max
+#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
+gen.add("open_left_gripper", bool_t, 0, "Open the left gripper", False)
+gen.add("close_left_gripper", bool_t, 0, "Close the left gripper", False)
+gen.add("stop_left", bool_t, 0, "Stop left gripper motion", False)
+gen.add("open_right_gripper", bool_t, 0, "Open the right gripper", False)
+gen.add("close_right_gripper", bool_t, 0, "Close the right gripper", False)
+gen.add("stop_right", bool_t, 0, "Stop right gripper motion", False)
+
+
+exit(gen.generate(PACKAGE, "GripperClientAlgorithm", "GripperClient"))
diff --git a/gripper_client/include/gripper_client_alg.h b/gripper_client/include/gripper_client_alg.h
new file mode 100644
index 0000000000000000000000000000000000000000..ef0a46e692c5eb6f75f1313cae73ecb167e7a1e9
--- /dev/null
+++ b/gripper_client/include/gripper_client_alg.h
@@ -0,0 +1,131 @@
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _gripper_client_alg_h_
+#define _gripper_client_alg_h_
+
+#include <gripper_client/GripperClientConfig.h>
+
+//include humanoid_common_gripper_client_alg main library
+
+/**
+ * \brief IRI ROS Specific Driver Class
+ *
+ *
+ */
+class GripperClientAlgorithm
+{
+ protected:
+ /**
+ * \brief define config type
+ *
+ * Define a Config type with the GripperClientConfig. All driver implementations
+ * will then use the same variable type Config.
+ */
+ pthread_mutex_t access_;
+
+ // private attributes and methods
+
+ public:
+ /**
+ * \brief define config type
+ *
+ * Define a Config type with the GripperClientConfig. All driver implementations
+ * will then use the same variable type Config.
+ */
+ typedef gripper_client::GripperClientConfig Config;
+
+ /**
+ * \brief config variable
+ *
+ * This variable has all the driver parameters defined in the cfg config file.
+ * Is updated everytime function config_update() is called.
+ */
+ Config config_;
+
+ /**
+ * \brief constructor
+ *
+ * In this constructor parameters related to the specific driver can be
+ * initalized. Those parameters can be also set in the openDriver() function.
+ * Attributes from the main node driver class IriBaseDriver such as loop_rate,
+ * may be also overload here.
+ */
+ GripperClientAlgorithm(void);
+
+ /**
+ * \brief Lock Algorithm
+ *
+ * Locks access to the Algorithm class
+ */
+ void lock(void) { pthread_mutex_lock(&this->access_); };
+
+ /**
+ * \brief Unlock Algorithm
+ *
+ * Unlocks access to the Algorithm class
+ */
+ void unlock(void) { pthread_mutex_unlock(&this->access_); };
+
+ /**
+ * \brief Tries Access to Algorithm
+ *
+ * Tries access to Algorithm
+ *
+ * \return true if the lock was adquired, false otherwise
+ */
+ bool try_enter(void)
+ {
+ if(pthread_mutex_trylock(&this->access_)==0)
+ return true;
+ else
+ return false;
+ };
+
+ /**
+ * \brief config update
+ *
+ * In this function the driver parameters must be updated with the input
+ * config variable. Then the new configuration state will be stored in the
+ * Config attribute.
+ *
+ * \param new_cfg the new driver configuration state
+ *
+ * \param level level in which the update is taken place
+ */
+ void config_update(Config& new_cfg, uint32_t level=0);
+
+ // here define all gripper_client_alg interface methods to retrieve and set
+ // the driver parameters
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor is called when the object is about to be destroyed.
+ *
+ */
+ ~GripperClientAlgorithm(void);
+};
+
+#endif
diff --git a/gripper_client/include/gripper_client_alg_node.h b/gripper_client/include/gripper_client_alg_node.h
new file mode 100644
index 0000000000000000000000000000000000000000..abf9746905a79ac2dfebcc6f005d9fcc968586f1
--- /dev/null
+++ b/gripper_client/include/gripper_client_alg_node.h
@@ -0,0 +1,120 @@
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _gripper_client_alg_node_h_
+#define _gripper_client_alg_node_h_
+
+#include <iri_base_algorithm/iri_base_algorithm.h>
+#include "gripper_client_alg.h"
+
+// [publisher subscriber headers]
+
+// [service client headers]
+
+// [gripper server client headers]
+
+#include <humanoid_modules/gripper_module.h>
+
+/**
+ * \brief IRI ROS Specific Algorithm Class
+ *
+ */
+class GripperClientAlgNode : public algorithm_base::IriBaseAlgorithm<GripperClientAlgorithm>
+{
+ private:
+ // [publisher attributes]
+
+ // [subscriber attributes]
+
+ // [service attributes]
+
+ // [client attributes]
+
+ // [action server attributes]
+
+ // [action client attributes]
+
+ CGripperModule left_gripper;
+ CGripperModule right_gripper;
+
+ public:
+ /**
+ * \brief Constructor
+ *
+ * This constructor initializes specific class attributes and all ROS
+ * communications variables to enable message exchange.
+ */
+ GripperClientAlgNode(void);
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor frees all necessary dynamic memory allocated within this
+ * this class.
+ */
+ ~GripperClientAlgNode(void);
+
+ protected:
+ /**
+ * \brief main node thread
+ *
+ * This is the main thread node function. Code written here will be executed
+ * in every node loop while the algorithm is on running state. Loop frequency
+ * can be tuned by modifying loop_rate attribute.
+ *
+ * Here data related to the process loop or to ROS topics (mainly data structs
+ * related to the MSG and SRV files) must be updated. ROS publisher objects
+ * must publish their data in this process. ROS client servers may also
+ * request data to the corresponding server topics.
+ */
+ void mainNodeThread(void);
+
+ /**
+ * \brief dynamic reconfigure server callback
+ *
+ * This method is called whenever a new configuration is received through
+ * the dynamic reconfigure. The derivated generic algorithm class must
+ * implement it.
+ *
+ * \param config an object with new configuration from all algorithm
+ * parameters defined in the config file.
+ * \param level integer referring the level in which the configuration
+ * has been changed.
+ */
+ void node_config_update(Config &config, uint32_t level);
+
+ /**
+ * \brief node add diagnostics
+ *
+ * In this abstract function additional ROS diagnostics applied to the
+ * specific algorithms may be added.
+ */
+ void addNodeDiagnostics(void);
+
+ // [diagnostic functions]
+
+ // [test functions]
+};
+
+#endif
diff --git a/gripper_client/package.xml b/gripper_client/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b2d37ae7d272f5bad1179db6e76ca17253cffe3f
--- /dev/null
+++ b/gripper_client/package.xml
@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<package>
+ <name>gripper_client</name>
+ <version>0.0.0</version>
+ <description>The gripper_client package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="sergi@todo.todo">sergi</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>LGPL</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/humanoid_common_action_client</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> -->
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>iri_base_algorithm</build_depend>
+ <build_depend>humanoid_modules</build_depend>
+ <run_depend>iri_base_algorithm</run_depend>
+ <run_depend>humanoid_modules</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- You can specify that this package is a metapackage here: -->
+ <!-- <metapackage/> -->
+
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/gripper_client/src/gripper_client_alg.cpp b/gripper_client/src/gripper_client_alg.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..55fc0886e4e59f6608cd251204d7e223cb7bb655
--- /dev/null
+++ b/gripper_client/src/gripper_client_alg.cpp
@@ -0,0 +1,23 @@
+#include "gripper_client_alg.h"
+
+GripperClientAlgorithm::GripperClientAlgorithm(void)
+{
+ pthread_mutex_init(&this->access_,NULL);
+}
+
+GripperClientAlgorithm::~GripperClientAlgorithm(void)
+{
+ pthread_mutex_destroy(&this->access_);
+}
+
+void GripperClientAlgorithm::config_update(Config& new_cfg, uint32_t level)
+{
+ this->lock();
+
+ // save the current configuration
+ this->config_=new_cfg;
+
+ this->unlock();
+}
+
+// GripperClientAlgorithm Public API
diff --git a/gripper_client/src/gripper_client_alg_node.cpp b/gripper_client/src/gripper_client_alg_node.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e7f0c9a2131bd8ab812c0f3b86f2bd5d4f28c737
--- /dev/null
+++ b/gripper_client/src/gripper_client_alg_node.cpp
@@ -0,0 +1,105 @@
+#include "gripper_client_alg_node.h"
+#include <humanoid_modules/gripper_module.h>
+
+GripperClientAlgNode::GripperClientAlgNode(void) :
+ algorithm_base::IriBaseAlgorithm<GripperClientAlgorithm>(),
+ left_gripper("left_gripper"),
+ right_gripper("right_gripper")
+{
+ //init class attributes if necessary
+ //this->loop_rate_ = 2;//in [Hz]
+
+ // [init publishers]
+
+ // [init subscribers]
+
+ // [init services]
+
+ // [init clients]
+
+ // [init gripper servers]
+
+ // [init gripper clients]
+}
+
+GripperClientAlgNode::~GripperClientAlgNode(void)
+{
+ // [free dynamic memory]
+}
+
+void GripperClientAlgNode::mainNodeThread(void)
+{
+ // [fill msg structures]
+
+ // [fill srv structure and make request to the server]
+
+ // [fill gripper structure and make request to the gripper server]
+
+ // [publish messages]
+}
+
+/* [subscriber callbacks] */
+
+/* [service callbacks] */
+
+/* [gripper callbacks] */
+
+void GripperClientAlgNode::node_config_update(Config &config, uint32_t level)
+{
+ this->alg_.lock();
+ if(config.open_left_gripper)
+ {
+ if(!this->left_gripper.is_finished())
+ ROS_WARN("Impossible to move left gripper because the previous motion is not finished yet");
+ else
+ this->left_gripper.open();
+ config.open_left_gripper=false;
+ }
+ else if(config.close_left_gripper)
+ {
+ if(!this->left_gripper.is_finished())
+ ROS_WARN("Impossible to move left gripper because the previous motion is not finished yet");
+ else
+ this->left_gripper.close();
+ config.close_left_gripper=false;
+ }
+ else if(config.stop_left)
+ {
+ if(!this->left_gripper.is_finished())
+ this->left_gripper.stop();
+ config.stop_left=false;
+ }
+ if(config.open_right_gripper)
+ {
+ if(!this->right_gripper.is_finished())
+ ROS_WARN("Impossible to move right gripper because the previous motion is not finished yet");
+ else
+ this->right_gripper.open();
+ config.open_right_gripper=false;
+ }
+ else if(config.close_right_gripper)
+ {
+ if(!this->right_gripper.is_finished())
+ ROS_WARN("Impossible to move right gripper because the previous motion is not finished yet");
+ else
+ this->right_gripper.close();
+ config.close_right_gripper=false;
+ }
+ else if(config.stop_right)
+ {
+ if(!this->right_gripper.is_finished())
+ this->right_gripper.stop();
+ config.stop_right=false;
+ }
+ this->alg_.unlock();
+}
+
+void GripperClientAlgNode::addNodeDiagnostics(void)
+{
+}
+
+/* main function */
+int main(int argc,char *argv[])
+{
+ return algorithm_base::main<GripperClientAlgNode>(argc, argv, "gripper_client_alg_node");
+}