diff --git a/cfg/TiagoGripperModule.cfg b/cfg/TiagoGripperModule.cfg
index 16a7c53c10537e389540e3b0f5b2bb88d5b0d5e0..d026b9312b1c8216991c5f6df54a82f65a7eaef3 100755
--- a/cfg/TiagoGripperModule.cfg
+++ b/cfg/TiagoGripperModule.cfg
@@ -39,7 +39,7 @@ from iri_ros_tools.dyn_params import add_module_service_params,add_module_action
 gen = ParameterGenerator()
 
 #       Name                              Type       Reconfiguration level            Description                       Default   Min   Max
-add_module_params(gen,"gripper_module")
+add_module_params(gen,"gripper")
 add_module_service_params(gen,"grasp")
 motion_action=add_module_action_params(gen,"move")
 motion_action.add("close_dist",           double_t,  0,                               "Close position distance",         0.01,     0.0,  0.045)
diff --git a/src/tiago_gripper_client_alg_node.cpp b/src/tiago_gripper_client_alg_node.cpp
index 99b0f7fb5f44085b52fbd3949b281f3d1a486e89..f1c23c0e8bbbca43160365c13435d4eaa749d7ad 100644
--- a/src/tiago_gripper_client_alg_node.cpp
+++ b/src/tiago_gripper_client_alg_node.cpp
@@ -2,7 +2,7 @@
 
 TiagoGripperClientAlgNode::TiagoGripperClientAlgNode(void) :
   algorithm_base::IriBaseAlgorithm<TiagoGripperClientAlgorithm>(),
-  gripper_module("gripper_module",ros::this_node::getName())
+  gripper_module("gripper",ros::this_node::getName())
 {
   //init class attributes if necessary
   this->setRate(10);//in [Hz]