I was able to install the ABB ros server on my Yumi robot, the server is working good for controlling the two arms using Orebro/yumi package. However I'm still having problems in connecting the grippers to the ROS server. I installed all the required files and modules for grippers control and I run the RAPID check program and I got no errors. The main problem is that the Grippers Motion Server and the Grippers State server are still not connected to the ROS server. Any help with this issue??