diff --git a/RosAria.cpp b/RosAria.cpp
index 4bc9300..3bbfa13 100644
--- a/RosAria.cpp
+++ b/RosAria.cpp
@@ -90,6 +90,8 @@ class RosAriaNode
 
     ArRobotConnector *conn;
     ArRobot *robot;
+    ArGripper* gripper;
+
     nav_msgs::Odometry position;
     rosaria::BumperState bumpers;
     ArPose pos;
@@ -352,6 +354,8 @@ RosAriaNode::RosAriaNode(ros::NodeHandle nh) :
   stop_robot=false;
   stop_motors_msg.data=false;
   veltime = ros::Time::now();
+
+  gripper->gripOpen();
 }
 
 RosAriaNode::~RosAriaNode()