Hi, I am using KUKA eki-interface from kuka_experimental package. I would like to control gripper via ROS using this driver. The gripper is controlled by digital output. How can I modify this driver to control also this digital output? If it is possible, how could I also add two digital inputs (feedback from gripper) to this driver?

So far I am able to control it via KUKA program using this command:

OUT 1 'Name_of_output_pin' State=FALSE CONT

Thank you in advance.