Gripper Visualization mismatch

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Hello there,

I am trying to control a gripper (PG 70). Connecting to the real Hardware i encountered the following prblem:

The Gripper position displayed in RViz doesn't match the real Grippers Position, which results in the inability to perform certain movements due to wrong collision detection.

I am running ROS Indigo on Ubuntu 14.04. To connect the Hardware I use ipa_canopen

Any Ideas?

Edit: Moved the other question here