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ur5 with 2f-140 gripper on real hardware

Hello, I am quite new to ROS and robotics world. I am working on a ur5 arm attached to a Robotiq 2f-140 gripper. I have successfully simulated the robot on Gazebo and Rviz using MoveIt. Now, I need to run Rviz and MoveIt on real hardware. We are currently using ur_modern_driver to launch the ur5.(and want to keep working with it) What changes should I make to ur modern driver to be able to launch ur5 with the gripper attached? Should I add gripper control controllers to configs and add an extra gripper driver?

ur5 with 2f-140 gripper on real hardware

Hello, Hello,

I am quite new to ROS and robotics world. I am working on a ur5 arm attached to a Robotiq 2f-140 gripper. I have successfully simulated the robot on Gazebo and Rviz using MoveIt. MoveIt.

Now, I need to run Rviz and MoveIt on real hardware. We are currently using ur_modern_driver to launch the ur5.(and ur5. (and want to keep working with it) it)

What changes should I make to ur modern driver to be able to launch ur5 with the gripper attached? Should I add gripper control controllers to configs and add an extra gripper driver?