# How control the gripper (tool/end-effector) through ROS2?

**URL:** <https://forum.universal-robots.com/t/how-control-the-gripper-tool-end-effector-through-ros2/22847>\
**Category:** ROS\
**Created:** [July 22, 2022, 1:34pm UTC](https://forum.universal-robots.com/t/how-control-the-gripper-tool-end-effector-through-ros2/22847 "2022-07-22T13:34:02Z")\
**Posts on this page:** 1\
**Showing post:** 4

<div class="post-metadata">

**Author:** ![anon58002450](https://avatars.discourse-cdn.com/v4/letter/a/e8c25b/32.png) [@anon58002450](https://forum.universal-robots.com/u/anon58002450)\
**Post date:** [July 28, 2022, 1:09pm UTC](https://forum.universal-robots.com/t/how-control-the-gripper-tool-end-effector-through-ros2/22847/4 "2022-07-28T13:09:37Z")

</div>

Thank you for your answer @anon12906586. 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](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/515#issuecomment-1070712660) 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](https://forum.universal-robots.com/t/ros-driver-sending-script-command-with-ros-still-connected/18042/7) and [2](https://forum.universal-robots.com/t/ros-driver-dashboard-rawrequest/7057) but sending urscripts through python, is [not yet supported](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/251) in ROS2.

So any help on this would be really appreciated

---

_[View the full topic](https://forum.universal-robots.com/t/how-control-the-gripper-tool-end-effector-through-ros2/22847)._