Open fmauch opened 1 year ago
This makes it impossible to have this installed in conjunction with other URCaps, such as Robotiq_gripper.
Is this the official Robotiq URCap that you'd use to control the gripper in Polyscope?
I feel like a documentation warning/sidebar about this issue in
https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/setup_tool_communication.html
might save people some headaches before this issue is resolved, since I suppose a lot of us with Robotiq grippers have their URCap installed already.
Fortunately I stumbled on this issue right before finishing my tool comms setup :D
Currently, we grab the tool IOs once this URCap is installed. This makes it impossible to have this installed in conjunction with other URCaps, such as Robotiq_gripper. Similar to the latter, we could claim the resources only when configured to do so.
This would enable users to easily activate/deactivate this without the requirement of uninstalling it when unneeded.