Thank you for your answer @dan2. Apparently ur_robot_driver is not updated yet for foxy, and it may not, since I remember there was a reason about it that forced to still use the ur_bringup instead.
I will be at the lab to do experiments on the real robot in 3 weeks, so I can’t give feedback now. But still, I’m not sure whether this would be sufficient to activate the vacuum gripper.
Since it is a vacuum gripper, it would only need an on/off message for the current. I see that ‘use_tool_communication’ offers the tool_voltage parameter but I’m not sure if that would be enough to activate the gripper.
Then I see this answer by @mauch but I was hoping that I wouldn’t have to go through the process of creating separate driver, since I only want to give current to the ur flange.
I found these 2 posts relevant: 1 and 2 but sending urscripts through python, is not yet supported in ROS2.
So any help on this would be really appreciated