Connecting and controlling 2f-85 with ROS2

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Hi,

I am working on a project, that requires adding Robotiq 2f-85 to a real UR5e robot. I’m working with ROS2 driver in Ros2 humble. I was able to add the gripper to the robot in Gazebo ignition and rviz2. And I can also control it with rviz2.

Now I am trying to add it to a real robot and control both the ur5e and 2f-85 with ros2 drivers and moveit2.
How I can connect and control gripper:

  1. directly with ROS2

  2. Connecting it to UR5e and then controlling it via ROS2?

I searched on the internet and found that, with rs485 by using rs485 to USB converter, you can connect the gripper, but that is only applicable for ROS not sure if it works with ROS2?
I am not sure how to externally connect the gripper with my ROS2 PC.

Any help would be appreciated!!