diff --git a/stretch_demos/nodes/clean_surface b/stretch_demos/nodes/clean_surface
index 4e83ff3..60609f3 100755
--- a/stretch_demos/nodes/clean_surface
+++ b/stretch_demos/nodes/clean_surface
@@ -14,9 +14,6 @@ from trajectory_msgs.msg import JointTrajectoryPoint
 
 from sensor_msgs.msg import PointCloud2
 
-from control_msgs.msg import GripperCommandAction
-from control_msgs.msg import GripperCommandGoal
-
 from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse
 
 import math
diff --git a/stretch_demos/nodes/grasp_object b/stretch_demos/nodes/grasp_object
index cb8bb62..cda9b9f 100755
--- a/stretch_demos/nodes/grasp_object
+++ b/stretch_demos/nodes/grasp_object
@@ -14,9 +14,6 @@ from trajectory_msgs.msg import JointTrajectoryPoint
 
 from sensor_msgs.msg import PointCloud2
 
-from control_msgs.msg import GripperCommandAction
-from control_msgs.msg import GripperCommandGoal
-
 from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse
 
 import math
diff --git a/stretch_demos/nodes/handover_object b/stretch_demos/nodes/handover_object
index a7ac99c..358dd49 100755
--- a/stretch_demos/nodes/handover_object
+++ b/stretch_demos/nodes/handover_object
@@ -18,9 +18,6 @@ from geometry_msgs.msg import PointStamped
 
 from sensor_msgs.msg import PointCloud2
 
-from control_msgs.msg import GripperCommandAction
-from control_msgs.msg import GripperCommandGoal
-
 from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse
 
 import math
diff --git a/stretch_demos/nodes/hello_world b/stretch_demos/nodes/hello_world
index a229f9e..6a68f7f 100755
--- a/stretch_demos/nodes/hello_world
+++ b/stretch_demos/nodes/hello_world
@@ -14,9 +14,6 @@ from trajectory_msgs.msg import JointTrajectoryPoint
 
 from sensor_msgs.msg import PointCloud2
 
-from control_msgs.msg import GripperCommandAction
-from control_msgs.msg import GripperCommandGoal
-
 from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse
 
 import math
diff --git a/stretch_demos/nodes/open_drawer b/stretch_demos/nodes/open_drawer
index 1c12d97..6f890c3 100755
--- a/stretch_demos/nodes/open_drawer
+++ b/stretch_demos/nodes/open_drawer
@@ -14,9 +14,6 @@ from trajectory_msgs.msg import JointTrajectoryPoint
 
 from sensor_msgs.msg import PointCloud2
 
-from control_msgs.msg import GripperCommandAction
-from control_msgs.msg import GripperCommandGoal
-
 from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse
 
 import math