diff --git a/extend_gripper_control_ur/scripts/gripper_control_digital.py b/extend_gripper_control_ur/scripts/gripper_control_digital.py
index 65410af23..6a4ffcca3 100755
--- a/extend_gripper_control_ur/scripts/gripper_control_digital.py
+++ b/extend_gripper_control_ur/scripts/gripper_control_digital.py
@@ -20,13 +20,13 @@ def initialize():
     return pubGripperCommandRepublisher,pubGripperResponse
 
 def dataCallback(msg):
-    if(msg.gripperDigital.data):
+    if(msg.gripper_digital.data):
         gripperValue = 1
     else:
         gripperValue = 0
-    gripperPin = msg.gripperPin.data
+    gripper_pin = msg.gripper_pin.data
     gripperControl = rospy.ServiceProxy(setIOServiceName, ur_msgs.srv.SetIO)
-    gripperAction = gripperControl(1,gripperPin,gripperValue)
+    gripperAction = gripperControl(1,gripper_pin,gripperValue)
     header = Header()
     header.seq = 0
     header.frame_id = ""
diff --git a/extend_gripper_control_ur/scripts/gripper_control_robotiq.py b/extend_gripper_control_ur/scripts/gripper_control_robotiq.py
index f1ed0109e..ac3b30055 100755
--- a/extend_gripper_control_ur/scripts/gripper_control_robotiq.py
+++ b/extend_gripper_control_ur/scripts/gripper_control_robotiq.py
@@ -26,7 +26,7 @@ def dataCallback(msg):
     gripperControlMsg.rGTO = 1
     gripperControlMsg.rSP = 255
     gripperControlMsg.rFR = 150
-    gripperControlMsg.rPR = int(255 * msg.gripperAnalog.data)
+    gripperControlMsg.rPR = int(255 * msg.gripper_analog.data)
     pubRobotiqControl.publish(gripperControlMsg)
 
     header = Header()