Add a new variable to actuate a gripper

[louisdhb]

Hello !
Thanks for the driver. I managed to make it work for my irb120. I send custom trajectories on the "joint_trajectory_action" topic of ROS and the robot moves accordingly.

Now, I would like to add a new topic, which would be something like "/gripper". If I would publish a value of 1 on that topic, this would set a variable to 1 in the rapid code that would close my gripper (and if I publish 0, it would open it).

Could you please help me with regard to what I have to modify, both in the rapid files and on the ROS side, to make this work ?

Thanks a lot!
Regards

Louis