UR10 with RG6 gripper

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Hi,

I'm new to ROS, and I need to control an OnRobot RG6 Gripper on an UR10 robot.

I was able to control the robot using the new Universal Robot Driver, since the the old drivers are now deprecated. I'm able to control it from RVIZ, and from a python script using MoveIt. I got a general idea of how ROS nodes work, and I was also able to Dockerize several ROS nodes and make them able to communicate with each other (roscamera, apriltags, moveit, ...).

My question is the following : How could I control the RG6 grip from my MoveIt/Python script ?

I tried using the GitHub repo at https://github.com/phuicy/rg6, but there is no Readme and I couldn't see any route that would allow me to control the Gripper's width.

I also tried using the repo at https://github.com/sharathrjtr/ur10_r... made for an RG2 and the old deprecated drivers version, but when I'm trying to run the server controller script, it's telling me it cannot bind to an address because it is already in use.

There must be an easier way to control the gripper through the UR10 driver itself, has anyone managed to do it ? Or does anyone know of a very simple way to control an RG6 ? Any hint would be greatly appreciated.

Regards, F/Poutre.