diff --git a/include/youbot_driver_ros_interface/YouBotOODLWrapper.h b/include/youbot_driver_ros_interface/YouBotOODLWrapper.h
index c234d69..fd101ae 100644
--- a/include/youbot_driver_ros_interface/YouBotOODLWrapper.h
+++ b/include/youbot_driver_ros_interface/YouBotOODLWrapper.h
@@ -108,7 +108,7 @@ class YouBotOODLWrapper
      * @param armName Name of the base. Used to open the configuration file e.g. youbot-manipulator.cfg
      * @param enableStandardGripper If set to true, then the default gripper of the youBot will be initialized.
      */
-    void initializeArm(std::string armName, bool enableStandardGripper = true);
+    void initializeArm(std::string armName);
 
     /**
      * @brief Stops all initialized elements.
@@ -256,9 +256,8 @@ class YouBotOODLWrapper
 	/// Tell if a goal is currently active.
 	bool armHasActiveJointTrajectoryGoal;
 
-	youbot::GripperSensedBarPosition gripperBar1Position;
-	youbot::GripperSensedBarPosition gripperBar2Position;
-	int gripperCycleCounter;
+    youbot::GripperSensedBarPosition gripperBar1Position;
+    youbot::GripperSensedBarPosition gripperBar2Position;
 
     //void executeActionServer(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal,  int armIndex);
     
@@ -266,6 +265,7 @@ class YouBotOODLWrapper
     //double trajectoryVelocityGain;
     //double trajectoryPositionGain;
     double youBotDriverCycleFrequencyInHz;
+    double youBotDriverGripperReadingsCycleFrequencyInHz;
         
     /// diagnostic msgs
     ros::Time lastDiagnosticPublishTime;
@@ -281,6 +281,8 @@ class YouBotOODLWrapper
 
     bool areBaseMotorsSwitchedOn;
     bool areArmMotorsSwitchedOn;
+
+    ros::Time last_gripper_readings_time_;
 };
 
 } // namespace youBot
diff --git a/launch/youbot_driver.launch b/launch/youbot_driver.launch
index 3cd2d89..4c81a43 100644
--- a/launch/youbot_driver.launch
+++ b/launch/youbot_driver.launch
@@ -16,6 +16,7 @@ or enable the USE_SETCAP flag in the cmake file and recompile again.
 	<param name="youBotHasBase" type="bool" value="true"/>
 	<param name="youBotHasArms" type="bool" value="true"/> 
 	<param name="youBotDriverCycleFrequencyInHz" type="double" value="50.0"/>
+	<param name="youBotDriverGripperReadingsCycleFrequencyInHz" type="double" value="5" />
 	<param name="youBotConfigurationFilePath" type="string" value="$(find youbot_driver)/config"/>
 
 	<param name="trajectoryActionServerEnable" type="bool" value="true"/>
diff --git a/launch/youbot_driver_dual_arm.launch b/launch/youbot_driver_dual_arm.launch
index c561419..2cb8cb6 100644
--- a/launch/youbot_driver_dual_arm.launch
+++ b/launch/youbot_driver_dual_arm.launch
@@ -16,6 +16,7 @@ or enable the USE_SETCAP flag in the cmake file and recompile again.
 	<param name="youBotHasBase" type="bool" value="true"/>
 	<param name="youBotHasArms" type="bool" value="true"/> 
 	<param name="youBotDriverCycleFrequencyInHz" type="double" value="50.0"/>
+	<param name="youBotDriverGripperReadingsCycleFrequencyInHz" type="double" value="5" />
 	<param name="youBotConfigurationFilePath" type="string" value="$(find youbot_driver)/config"/>
 
 	<param name="trajectoryActionServerEnable" type="bool" value="true"/>
diff --git a/src/YouBotOODLWrapper.cpp b/src/YouBotOODLWrapper.cpp
index 3767324..3e3ed38 100644
--- a/src/YouBotOODLWrapper.cpp
+++ b/src/YouBotOODLWrapper.cpp
@@ -63,14 +63,16 @@ node(n)
     armJointStateMessages.clear();
 
     n.param("youBotDriverCycleFrequencyInHz", youBotDriverCycleFrequencyInHz, 50.0);
+    n.param("youBotDriverGripperReadingsCycleFrequencyInHz", youBotDriverGripperReadingsCycleFrequencyInHz, 5.0);
     //n.param("trajectoryActionServerEnable", trajectoryActionServerEnable, false);
     //n.param("trajectoryVelocityGain", trajectoryVelocityGain, 0.0);
     //n.param("trajectoryPositionGain", trajectoryPositionGain, 5.0);
-    gripperCycleCounter = 0;
     diagnosticNameArm = "platform_Arm";
     diagnosticNameBase = "platform_Base";
     dashboardMessagePublisher = n.advertise<pr2_msgs::PowerBoardState>("/dashboard/platform_state", 1);
     diagnosticArrayPublisher = n.advertise<diagnostic_msgs::DiagnosticArray>("/diagnostics", 1);
+
+    last_gripper_readings_time_ = ros::Time::now();
 }
 
 YouBotOODLWrapper::~YouBotOODLWrapper()
@@ -115,7 +117,7 @@ void YouBotOODLWrapper::initializeBase(std::string baseName)
     areBaseMotorsSwitchedOn = true;
 }
 
-void YouBotOODLWrapper::initializeArm(std::string armName, bool enableStandardGripper)
+void YouBotOODLWrapper::initializeArm(std::string armName)
 {
     int armIndex;
     youbot::JointName jointNameParameter;
@@ -150,10 +152,23 @@ void YouBotOODLWrapper::initializeArm(std::string armName, bool enableStandardGr
 
         youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->doJointCommutation();
         youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->calibrateManipulator();
-        if (enableStandardGripper)
+    }
+    catch (std::exception& e)
+    {
+        youBotConfiguration.youBotArmConfigurations.pop_back();
+        std::string errorMessage = e.what();
+        ROS_FATAL("%s", errorMessage.c_str());
+        ROS_ERROR("Arm \"%s\" could not be initialized.", armName.c_str());
+        ROS_INFO("System has %i initialized arm(s).", static_cast<int> (youBotConfiguration.youBotArmConfigurations.size()));
+        return;
+    }
+
+    if(youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->hasGripper())
+    {
+        try
         {
-        	youbot::GripperBarName barName;
-        	std::string gripperBarName;
+            youbot::GripperBarName barName;
+            std::string gripperBarName;
 
             youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->getArmGripper().getGripperBar1().getConfigurationParameter(barName);
             barName.getParameter(gripperBarName);
@@ -167,18 +182,18 @@ void YouBotOODLWrapper::initializeArm(std::string armName, bool enableStandardGr
 
             youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->calibrateGripper();
         }
+        catch (std::exception& e)
+        {
+            ROS_WARN_STREAM("Gripper on arm \"" << armName << "\" could not be initialized: " << e.what());
+        }
     }
-    catch (std::exception& e)
+    else
     {
-        youBotConfiguration.youBotArmConfigurations.pop_back();
-        std::string errorMessage = e.what();
-        ROS_FATAL("%s", errorMessage.c_str());
-        ROS_ERROR("Arm \"%s\" could not be initialized.", armName.c_str());
-        ROS_INFO("System has %i initialized arm(s).", static_cast<int> (youBotConfiguration.youBotArmConfigurations.size()));
-        return;
+        ROS_WARN_STREAM("Gripper on arm \"" << armName << "\" not found or disabled in the config file!");
     }
 
 
+
     /* setup input/output communication */
     topicName.str("");
     topicName << youBotConfiguration.youBotArmConfigurations[armIndex].commandTopicName << "arm_controller/position_command"; // e.g. arm_1/arm_controller/positionCommand
@@ -201,15 +216,10 @@ void YouBotOODLWrapper::initializeArm(std::string armName, bool enableStandardGr
     topicName << youBotConfiguration.youBotArmConfigurations[armIndex].commandTopicName << "joint_states";
     youBotConfiguration.youBotArmConfigurations[armIndex].armJointStatePublisher = node.advertise<sensor_msgs::JointState > (topicName.str(), 1); //TODO different names or one topic?
 
-    if (enableStandardGripper)
-    {
-        topicName.str("");
-        topicName << youBotConfiguration.youBotArmConfigurations[armIndex].commandTopicName << "gripper_controller/position_command";
-        youBotConfiguration.youBotArmConfigurations[armIndex].gripperPositionCommandSubscriber = node.subscribe<brics_actuator::JointPositions > (topicName.str(), 1000, boost::bind(&YouBotOODLWrapper::gripperPositionsCommandCallback, this, _1, armIndex));
-        youBotConfiguration.youBotArmConfigurations[armIndex].lastGripperCommand = 0.0; //This is true if the gripper is calibrated.
-    }
-
-
+    topicName.str("");
+    topicName << youBotConfiguration.youBotArmConfigurations[armIndex].commandTopicName << "gripper_controller/position_command";
+    youBotConfiguration.youBotArmConfigurations[armIndex].gripperPositionCommandSubscriber = node.subscribe<brics_actuator::JointPositions > (topicName.str(), 1000, boost::bind(&YouBotOODLWrapper::gripperPositionsCommandCallback, this, _1, armIndex));
+    youBotConfiguration.youBotArmConfigurations[armIndex].lastGripperCommand = 0.0; //This is true if the gripper is calibrated.
 
     /* setup services*/
     serviceName.str("");
@@ -811,9 +821,16 @@ void YouBotOODLWrapper::computeOODLSensorReadings()
 
             /* fill joint state message */
             armJointStateMessages[armIndex].header.stamp = currentTime;
-            armJointStateMessages[armIndex].name.resize(youBotArmDoF + youBotNumberOfFingers);
-            armJointStateMessages[armIndex].position.resize(youBotArmDoF + youBotNumberOfFingers);
-            armJointStateMessages[armIndex].velocity.resize(youBotArmDoF + youBotNumberOfFingers);
+
+            double numberOfArmjoints = 0;
+            if(youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->hasGripper())
+                numberOfArmjoints = youBotArmDoF + youBotNumberOfFingers;
+            else
+                numberOfArmjoints = youBotArmDoF;
+
+            armJointStateMessages[armIndex].name.resize(numberOfArmjoints);
+            armJointStateMessages[armIndex].position.resize(numberOfArmjoints);
+            armJointStateMessages[armIndex].velocity.resize(numberOfArmjoints);
 
             if (youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm == 0)
             {
@@ -856,32 +873,33 @@ void YouBotOODLWrapper::computeOODLSensorReadings()
              * themselves. Of course if the finger are screwed to the most inner position (i.e. the can close completely),
              * than it is correct.
              */
-            try 
-            {
-                youbot::YouBotGripperBar& gripperBar1 = youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->getArmGripper().getGripperBar1();
-                youbot::YouBotGripperBar& gripperBar2 = youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->getArmGripper().getGripperBar2();
 
-                if  (gripperCycleCounter == 0) { //workaround: avoid congestion of mailbox message by querying only every ith iteration
-            	    gripperCycleCounter = youBotDriverCycleFrequencyInHz/5; //approx. 5Hz here
-            	    gripperBar1.getData(gripperBar1Position);
-            	    gripperBar2.getData(gripperBar2Position);
-                }
-                gripperCycleCounter--;
+            if(youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->hasGripper() &&
+                        (ros::Duration(ros::Time::now() - last_gripper_readings_time_).toSec() > (1 / youBotDriverGripperReadingsCycleFrequencyInHz))) {
+                try {
+                    youbot::YouBotGripperBar& gripperBar1 = youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->getArmGripper().getGripperBar1();
+                    youbot::YouBotGripperBar& gripperBar2 = youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->getArmGripper().getGripperBar2();
 
-                armJointStateMessages[armIndex].name[youBotArmDoF + 0] = youBotConfiguration.youBotArmConfigurations[armIndex].gripperFingerNames[YouBotArmConfiguration::LEFT_FINGER_INDEX];
-                double leftGipperFingerPosition = gripperBar1Position.barPosition.value();
-                armJointStateMessages[armIndex].position[youBotArmDoF + 0] = leftGipperFingerPosition;
+                    gripperBar1.getData(gripperBar1Position);
+                    gripperBar2.getData(gripperBar2Position);
 
-                double rightGipperFingerPosition = gripperBar2Position.barPosition.value();
-                armJointStateMessages[armIndex].name[youBotArmDoF + 1] = youBotConfiguration.youBotArmConfigurations[armIndex].gripperFingerNames[YouBotArmConfiguration::RIGHT_FINGER_INDEX];
-                armJointStateMessages[armIndex].position[youBotArmDoF + 1] = rightGipperFingerPosition;
-            }
-            catch (std::exception& e)
-            {
-                std::string errorMessage = e.what();
-                ROS_WARN("Cannot read gripper values: %s", errorMessage.c_str());
+                    armJointStateMessages[armIndex].name[youBotArmDoF + 0] = youBotConfiguration.youBotArmConfigurations[armIndex].gripperFingerNames[YouBotArmConfiguration::LEFT_FINGER_INDEX];
+                    double leftGipperFingerPosition = gripperBar1Position.barPosition.value();
+                    armJointStateMessages[armIndex].position[youBotArmDoF + 0] = leftGipperFingerPosition;
+
+                    double rightGipperFingerPosition = gripperBar2Position.barPosition.value();
+                    armJointStateMessages[armIndex].name[youBotArmDoF + 1] = youBotConfiguration.youBotArmConfigurations[armIndex].gripperFingerNames[YouBotArmConfiguration::RIGHT_FINGER_INDEX];
+                    armJointStateMessages[armIndex].position[youBotArmDoF + 1] = rightGipperFingerPosition;
+
+                    last_gripper_readings_time_ = ros::Time::now();
+                }
+                catch (std::exception& e) {
+                    std::string errorMessage = e.what();
+                    ROS_WARN("Cannot read gripper values: %s", errorMessage.c_str());
+                }
             }
-/*
+
+            /*
             if (trajectoryActionServerEnable)
             {
                 // updating joint states in trajectory action