This project is made to be used by Club Capra's other repository, ovis. It allows the usage of a robotiq 2 finger gripper through ethercat. The repository is a lighter fork of Robotiq's ros-industrial code.
Using the ovis_robotiq_gripper node, you can alternate the gripper from opened to closed by sending a OvisGripperPosition message with a value of 2 in the position field on the /ovis/gripper/position_goal topic.
The intended usage is to have the command sent by our UI using the B button when in the arm control state.