diff --git a/src/tiago_gripper_module.cpp b/src/tiago_gripper_module.cpp
index 8dd084889fba2609e4ecc07cb0e3eb70674039aa..d4bb8f5cfe504279cfa387f0b0903cfd18f46a2d 100644
--- a/src/tiago_gripper_module.cpp
+++ b/src/tiago_gripper_module.cpp
@@ -21,9 +21,7 @@ CTiagoGripperModule::CTiagoGripperModule(const std::string &name,const std::stri
   else
     this->is_grasped_watchdog.reset(ros::Duration(this->config.is_grasped_watchdog_time_s));
     */
-  ROS_INFO("111");
   this->is_grasped_subscriber = this->module_nh.subscribe("is_grasped",1,&CTiagoGripperModule::is_grasped_callback,this);
-  ROS_INFO("222");
 
   /****************Actions******************/
   this->goal.trajectory.joint_names.resize(2);
@@ -152,9 +150,7 @@ void CTiagoGripperModule::state_machine(void)
 
 void CTiagoGripperModule::reconfigure_callback(tiago_gripper_module::TiagoGripperModuleConfig &config, uint32_t level)
 {
-  ROS_INFO("CTiagoGripperModule : reconfigure callback");
   this->lock();
-  ROS_INFO("CTiagoGripperModule : reconfigure callback2");
   this->config=config;
   if(this->goal.trajectory.joint_names.size()>0)
   {
@@ -163,12 +159,10 @@ void CTiagoGripperModule::reconfigure_callback(tiago_gripper_module::TiagoGrippe
   }
   /* set the module rate */
   this->dynamic_reconfigure(config,"gripper_module");
-  ROS_INFO("CTiagoGripperModule : reconfigure callback3");
   /* module service parameters */
   this->grasp_service.dynamic_reconfigure(config,"grasp");
   /* motion action parameters */
   this->gripper_action.dynamic_reconfigure(config,"move");
-  ROS_INFO("CTiagoGripperModule : reconfigure callback4");
   this->unlock();
 }