Hello everyone,

I have an UR10 from Universal Robots and a ReFlex SF Gripper from RightHand Robotics. Now I want to write my own program, where I can publish several robot states, so that the robot approaches these positions one after the other. Or perhaps, that the UR10 and the ReFlex SF Gripper can communicate with one another.

At the moment, I just can manipulate the robot with moveit in rviz. And I can control the gripper via ROS.

For the gripper I have to use ROS Jade, so that is the distribution I am working with.

Can you give me a hint how to realize that? I am just a beginner at ROS.

Thank you in advance for your help.