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So instead of enabling gripper communication through the UR package, I ended up SSH-ing directly into the UR computer and forwarding the USB port (that connects to the gripper) to my ROS host computer.

From ROS Host:

$ roscore
$ sudo socat pty,link=/dev/ttyTool,raw,ignoreeof,waitslave tcp:<robot-ip>:54321

From UR Computer:

$ socat tcp-l:54321,reuseaddr,fork file:/dev/ttyTool,nonblock,raw,waitlock=/var/run/tty

From Ros Host

$ sudo chmod 777 /dev/ttyTool
$ rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyTool
$ rosrun robotiq_2f_gripper_control Robotiq2FGripperSimpleController.py

Additional Notes:

1. To Access the UR computer ssh root@<robot-ip>. The default UR password is easybot
2. socat was not installed on the UR computer by default. I had to install it from a .deb file found here
3. I am not sure if it made a difference, but I deleted the rs-485 URCAP from the touchpad

I am currently rewriting this as a bash script that I can call from a roslaunch file. It isn't the most beautiful solution, but it works :)

I got the socat stuff from this Robotiq DOF thread: https://dof.robotiq.com/discussion/comment/5714#Comment_5714