Unable to control I/O states on UR10 (python) [closed]

edit

Hi. I'm working on a project where I need to pick up objects using a Universal Robots UR10 robot and a vacuum gripper. So far I am seeing positive results in executing move commands using movegroup python interface. I am, however, experiencing some problems in controlling digital output states using my script. I am using universal_robots package and the official Universal Robots ROS Driver.

Here's my import list:

import sys
import copy
import rospy
import tf2_ros
import tf
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
#from math import pi
import math
from std_msgs.msg import String
from moveit_commander.conversions import pose_to_list
from ur_msgs.msg import SetIO

My function which I'm calling in the main function:

  def apply_vacuum(self):
    rospy.wait_for_service('/ur_hardware_interface/set_io')
    try:
        set_io = rospy.ServiceProxy('/ur_hardware_interface/set_io',SetIO)
        set_io(fun = 1,pin = 2,state = 1)
    except rospy.ServiceException, e:
        print "Something went wrong: %s"%e

I'm getting no ServiceException. On my ur10_bringup.launch terminal I'm getting this error whenever I run the script above:

[ERROR] [1579178138.697529807]: Could not get fresh data package from robot

I can do a rosservice call (results in True):

rosservice call /ur_hardware_interface/set_io 1 2 1
success: True

I'm probably missing something. Any help is much appreciated. I'm running ROS Kinetic on Ubuntu 16.04 LTS with Lenovo Thinkpad X260.

EDIT: Seems like I'm trying to call a service that is present in the driver within universal_robots package, not the driver I am using. Am I correct? Running $rosservice list still yields /ur_hardware_interface/set_io.