diff --git a/launch/gripper_client.launch b/launch/gripper_client.launch
index 5468c07573002edde23d9dd034cd7e78177af857..9c84c1511e57191096b4e92a91b94e34829e06f3 100644
--- a/launch/gripper_client.launch
+++ b/launch/gripper_client.launch
@@ -8,15 +8,9 @@
     <remap from="/tiago/gripper_client/gripper_module/gripper_trajectory"
              to="/gripper_controller/follow_joint_trajectory"/>
     <!--Services-->             
-    <remap from="/tiago/gripper_client/gripper_module/grasp"
+    <remap from="~/gripper_module/grasp"
              to="/gripper_controller/grasp"/>
-    <param name="~/gripper_module/rate_hz" value="10"/>
-    <param name="~/gripper_module/action_max_retries" value="5"/>
-    <param name="~/gripper_module/feedback_watchdog_time_s" value="20"/>
-    <param name="~/gripper_module/enable_timeout" value="false"/>
-    <param name="~/gripper_module/timeout_s" value="10"/>
-    <param name="~/gripper_module/enabled" value="true"/>
-
+    <rosparam file="$(find tiago_modules)/config/gripper_module_default.yaml" command="load" ns="gripper_module" />
   </node>
 
   <!-- launch dynamic reconfigure -->
diff --git a/launch/gripper_client_sim.launch b/launch/gripper_client_sim.launch
index fed34d656c9ae56088ceede421026b56a0586b00..ffabd26c55247aff80a97ae401b5873de04a3a9b 100644
--- a/launch/gripper_client_sim.launch
+++ b/launch/gripper_client_sim.launch
@@ -5,27 +5,6 @@
     <arg name="robot" value="steel" />
   </include>
 
-  <!-- launch the action client node -->
-  <node name="gripper_client"
-        pkg="gripper_client"
-        type="gripper_client"
-        output="screen"
-        ns="/tiago">
-    <!--Actions-->
-    <remap from="/tiago/gripper_client/gripper_module/gripper_trajectory"
-             to="/gripper_controller/follow_joint_trajectory"/>
-
-    <param name="~/gripper_module/rate_hz" value="10"/>
-    <param name="~/gripper_module/action_max_retries" value="5"/>
-    <param name="~/gripper_module/feedback_watchdog_time_s" value="20"/>
-    <param name="~/gripper_module/enable_timeout" value="false"/>
-    <param name="~/gripper_module/timeout_s" value="10"/>
-    <param name="~/gripper_module/enabled" value="true"/>
-
-  </node>
-
-  <!-- launch dynamic reconfigure -->
-  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
-    output="screen"/>
+  <include file="$(find gripper_client)/launch/gripper_client.launch"/>
 
 </launch>
diff --git a/src/gripper_client_alg_node.cpp b/src/gripper_client_alg_node.cpp
index d027f7898997a85081aa7c877e539a480148276e..f875c42355cccabe10b8c34c94efa0fe3ea28ade 100644
--- a/src/gripper_client_alg_node.cpp
+++ b/src/gripper_client_alg_node.cpp
@@ -2,7 +2,7 @@
 
 GripperClientAlgNode::GripperClientAlgNode(void) :
   algorithm_base::IriBaseAlgorithm<GripperClientAlgorithm>(),
-  gripper_module("gripper_module")
+  gripper_module("gripper_module",ros::this_node::getName())
 {
   //init class attributes if necessary
   this->loop_rate_ = 10;//in [Hz]
@@ -66,42 +66,36 @@ void GripperClientAlgNode::node_config_update(Config &config, uint32_t level)
   //Open grippers
   if(config.open)
   {
-    this->gripper_module.is_finished();
-    ROS_INFO("GripperClientAlgNode:Grippers opened successfully!");
+    this->gripper_module.open(config.duration);
     config.open=false;
   }
   //Close grippers
   else if(config.close)
   {
-    this->gripper_module.is_finished();
-    ROS_INFO("GripperClientAlgNode: Grippers closed successfully!");
+    this->gripper_module.close(config.duration);
     config.close=false;
   }
   //Move fingers independently
   else if(config.move_fingers_to_pos)
   {
     this->gripper_module.move_fingers(config.left_finger_pos,config.right_finger_pos,config.duration);
-    ROS_INFO("GripperClientAlgNode: Fingers moved successfully!");
     config.move_fingers_to_pos=false;
   }
   //Move fingers to list of positions
   else if(config.follow_trajectory)
   {
     this->gripper_module.move_fingers(this->pos_l,this->pos_r,this->duration);
-    ROS_INFO("GripperClientAlgNode: Fingers trajectory successfull!");
     config.follow_trajectory=false;
   }
   else if(config.move_to_distance)
   {
     this->gripper_module.fingers_distance(config.fingers_distance,config.duration);
-    ROS_INFO("GripperClientAlgNode: Fingers moved to distance successfull!");
     config.move_to_distance=false;
   }
   //Grasp
   else if(config.grasp)
   {
     this->gripper_module.close_grasp();
-    ROS_INFO("GripperClientAlgNode: Completed grasping!");
     config.grasp=false;
   }
   //Stop action