Problem to control real UR10 with robotiq 2f-140

[Cavalletta98]

Hi, I'm trying to control a real UR10e with a Robotiq 2F-140 gripper using ROS 2 Jazzy and MoveIt. The setup works fine without the gripper, but when I include the gripper, it fails to operate correctly.

I'm currently using the Remote Control URCap on Polyscope 5.19, along with the RS485 URCap, since the gripper is directly connected to the robot’s tool flange. The robot is running in local control mode using the Remote Program on Polyscope (i.e., I have to press "Play" to allow the UR ROS driver to communicate with the robot).

I'm using the gripper driver from this repository: PickNikRobotics/ros2_robotiq_gripper. The gripper’s xacro file includes the plugin for a custom controller, which requires access to the USB interface exposed with the launch flag use_tool_communication:=true. This USB device should be available once the robot driver is fully running.

The problem seems to be that the gripper controller is being launched before the robot-driver node has established communication with the real hardware, so the required tool port isn’t available yet.

To work around this, I’ve created local copies of ur_control.launch.py and ur_rsp.launch.py so I can load my custom xacro and controller config. However, the issue persists.

What would be the recommended way to delay the gripper controller initialization until the robot communication is fully established? Is there a way to synchronize or sequence the launch of the gripper controller accordingly?