diff --git a/gz_gripper_plugin/launch/iri_wam.launch b/gz_gripper_plugin/launch/iri_wam.launch
index 3b6b8f83fc4fd332a0a826c2c07f48161e55be0c..ce1bfd98e52e93a55b48523d2b540114a298e7a8 100644
--- a/gz_gripper_plugin/launch/iri_wam.launch
+++ b/gz_gripper_plugin/launch/iri_wam.launch
@@ -46,7 +46,7 @@
       <!-- Here, robot_tcp and tool_tcp are the same because if not the algorithm would take 
            the link_7 to link_tcp transformation twice -->
       <param name="robot_tcp" type="str" value="/$(arg ROBOT)_link_tcp" />
-      <param name="tool_tcp"  type="str" value="/$(arg ROBOT)_link_tcp" />
+      <param name="tool_tcp"  type="str" value="/$(arg ROBOT)_gripper_tcp" />
       <remap from="$(arg ROBOT)_tcp_ik/wamik" to="$(arg ROBOT)_ik/get_wam_ik" />
     </node>
   </group>