diff --git a/franka_gripper/action/Grasp.action b/franka_gripper/action/Grasp.action
index 4fa487580dedca2f23cc860f890368009f3641f2..97fa8320b9378b93c372611a3ae236ac2079fa81 100644
--- a/franka_gripper/action/Grasp.action
+++ b/franka_gripper/action/Grasp.action
@@ -1,6 +1,6 @@
 float64 width    # [m]
 float64 speed    # [m/s]
-float64 max_force  # [N]
+float64 force  # [N]
 ---
 bool success
 string error
diff --git a/franka_gripper/src/franka_gripper.cpp b/franka_gripper/src/franka_gripper.cpp
index 7596ea2b9a539544692f3f6d21850d4596829fd2..9684e5d79531eba33d601d6693ae242a58866be6 100644
--- a/franka_gripper/src/franka_gripper.cpp
+++ b/franka_gripper/src/franka_gripper.cpp
@@ -75,7 +75,7 @@ bool stop(const franka::Gripper& gripper, const StopGoalConstPtr& /*goal*/) {
 }
 
 bool grasp(const franka::Gripper& gripper, const GraspGoalConstPtr& goal) {
-  return gripper.grasp(goal->width, goal->speed, goal->max_force);
+  return gripper.grasp(goal->width, goal->speed, goal->force);
 }
 
 }  // namespace franka_gripper