how to add custom gripper in kuka_industrial

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Hi everyone,

i tried to integrate a custom gripper to my kuka robot. The gripper has only 2 state: close and open, so i don't need any ROS-controller. because of the collision avoidance, i already integrate the gripper in the URDF-file and i have defined the gripper as a "joint".

the ros "industrial_core"-package published only the robot-joint-states . The gripper-states will be fully ignored. i dont think that, changing the code in industrial_core is a good idea. what is the best way, to work around this problem?

sincerely, Anthonio