diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1f87f48..8ed4cf7 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -49,6 +49,7 @@ catkin_install_python(PROGRAMS
   scripts/client.py
   scripts/detect_marker.py
   scripts/following_marker.py
+  scripts/gripper_control.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
diff --git a/launch/mycobot_detect_marker_with_services.launch b/launch/mycobot_detect_marker_with_services.launch
new file mode 100644
index 0000000..a13c536
--- /dev/null
+++ b/launch/mycobot_detect_marker_with_services.launch
@@ -0,0 +1,22 @@
+<launch>
+	<arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" />
+
+	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot_with_marker.rviz" />
+	<arg name="gui" default="false" />
+
+	<arg name="num" default="0" />
+
+    <include file="$(find mycobot_ros)/launch/mycobot_teleop_keyboard.launch">
+		<arg name="model" value="$(arg model)" />	
+		<arg name="rvizconfig" value="$(arg rvizconfig)" />	
+		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
+		<!-- <arg name="gui" value="$(arg gui)" />	 -->
+    </include>
+	<!-- <node name="real_listener" pkg="mycobot_ros" type="listen_real.py" /> -->
+	<node name="opencv_camera" pkg="mycobot_ros" type="opencv_camera" args="$(arg num)"/>
+	<node name="detect_marker" pkg="mycobot_ros" type="detect_marker.py" />
+	<node name="following_marker" pkg="mycobot_ros" type="following_marker.py" />
+</launch>
diff --git a/scripts/detect_marker.py b/scripts/detect_marker.py
index b61710d..b738dfb 100755
--- a/scripts/detect_marker.py
+++ b/scripts/detect_marker.py
@@ -64,6 +64,7 @@ class image_converter:
                     cv.aruco.drawAxis(cv_image, self.camera_matrix, self.dist_coeffs, rvec[i, :, :], tvec[i, :, :], 0.03)
 
                 xyz = tvec[0, 0, :]
+                xyz = [xyz[0] - 0.035, xyz[1], xyz[2] - 0.03]
 
                 euler = rvec[0, 0, :]
                 tf_change = tf.transformations.quaternion_from_euler(euler[0], euler[1], euler[2])
diff --git a/scripts/following_marker.py b/scripts/following_marker.py
index 8f6be50..dcafbd2 100755
--- a/scripts/following_marker.py
+++ b/scripts/following_marker.py
@@ -48,7 +48,7 @@ def talker():
         # marker position initial
         marker_.pose.position.x = trans[0]
         marker_.pose.position.y = trans[1]
-        marker_.pose.position.z = trans[2] - 0.02
+        marker_.pose.position.z = trans[2]
         marker_.pose.orientation.x = rot[0]
         marker_.pose.orientation.y = rot[1]
         marker_.pose.orientation.z = rot[2]
diff --git a/scripts/gripper_control.py b/scripts/gripper_control.py
new file mode 100755
index 0000000..6baac16
--- /dev/null
+++ b/scripts/gripper_control.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python2
+# license removed for brevity
+
+
+import rospy
+from visualization_msgs import msg
+from visualization_msgs.msg import Marker
+# from pymycobot.mycobot import MyCobot
+# from pymycobot.genre import Coord
+# from pymycobot import PI_PORT, PI_BAUD # For raspberry pi version of mycobot.
+import time
+from mycobot_ros.srv import (
+    GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus)
+
+
+set_coords = None
+set_angles = None
+
+x_offset = 0
+y_offset = 30
+z_offset = 60
+
+flag = False
+
+
+def grippercallback(data):
+    global flag
+    print(type(data))
+    # rospy.loginfo('gripper_subscriber get date :%s', data)
+    # print(Marker.)
+    # coord_datas = mc.get_coords()
+    # print(coord_datas)
+    if flag:
+        return
+
+
+    # pump lenght: 88mm
+    x = float(format(data.pose.position.x*1000, '.2f'))
+    y = float(format(data.pose.position.y*1000, '.2f'))
+    z = float(format(data.pose.position.z*1000, '.2f'))
+
+
+    print(x, y, z)
+
+    # detect heigth + pump height + limit height + offset
+    x += x_offset
+    y += y_offset
+    z = z  + 88 + 25 + z_offset
+
+    try:
+        set_coords(x, y, z, -175, 0, -90, 70, 2)
+        time.sleep(2.5)
+    except Exception:
+        pass
+
+
+    for i in range(1,4):
+        try:
+            set_coords(x, y, z - i * 10, -175, 0, -90, 70, 2)
+            time.sleep(.2)
+        except Exception:
+            pass
+    
+    # pump on
+    try:
+        set_coords(x, y, z + 20, -175, 0, -90, 70, 2)
+        time.sleep(2.5)
+    except Exception:
+        pass
+
+    # ...
+
+    # finally
+    flag = True
+
+    
+
+
+
+
+def gipper_subscriber():
+    global set_coords, set_angles
+    # rospy.wait_for_service('get_joint_angles')
+    rospy.wait_for_service('set_joint_angles')
+    # rospy.wait_for_service('get_joint_coords')
+    rospy.wait_for_service('set_joint_coords')
+    try:
+        # get_coords = rospy.ServiceProxy('get_joint_coords', GetCoords)
+        set_coords = rospy.ServiceProxy('set_joint_coords', SetCoords)
+        # get_angles = rospy.ServiceProxy('get_joint_angles', GetAngles)
+        set_angles = rospy.ServiceProxy('set_joint_angles', SetAngles)
+    except:
+        print('start error ...')
+        exit(1)
+
+    try:
+        set_angles(0, 30, -50, -40, 0, 0, 50)
+    except Exception:
+        pass
+    time.sleep(2.5)
+    rospy.init_node('gipper_subscriber',anonymous=True)
+    rospy.Subscriber('visualization_marker',Marker,grippercallback, queue_size=1)
+    print 'gripper test'
+    rospy.spin()
+
+    
+    
+
+if __name__ == '__main__':
+    gipper_subscriber()
+    
\ No newline at end of file