Motoman controller FS100 I/O driver

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Hello, I'm a beginner of ROS, the version is Kinetic with Ubuntu 16.04.

Because my gripper is used output i/o signal to control opening or closing with fs100 controller.

Now I want to control the gripper with ROS, I'm already install Motoman_driver on my controller.

I found this topic which is talking about I/O of motoman robot, but I can't find the same cpp files in the current version.

There are no other detail tutorials online, so hope you guys cloud help me figure out it.

Thanks a lot.

Edit: I follow these topic 1 _ 2 _ 3 to modify motoman_driver files.

After I did that, the services read_single_io write_single_io do not show actually.

cyc@cyc-X550JX:~$ rosservice call /robot_enable 
success: True
message: "Motoman robot is now enabled and will accept motion commands."
cyc@cyc-X550JX:~$ rosservice list
/joint_path_command
/joint_state/get_loggers
/joint_state/set_logger_level
/joint_trajectory_action/get_loggers
/joint_trajectory_action/set_logger_level
/motion_streaming_interface/get_loggers
/motion_streaming_interface/set_logger_level
/robot_disable
/robot_enable
/rosout/get_loggers
/rosout/set_logger_level
/stop_motion

What should I do to call it, let it connect to the address of IO that I want?

Thanks.