This repo provides the core functionality of robotiq gripper based on the repo

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.0.100 kinematics_params_file:="${HOME}/my_robot_calibration.yaml" launch_rviz:=false description_launchfile:=$(ros2 pkg prefix robotiq_description)/share/robotiq_description/launch/view_ur5e_gripper_camera.launch.py

ros2 launch ur_robotiq_compatibility ur_moveit_with_robotiq85.launch.py ur_type:="ur5e" launch_rviz:=false

ros2 launch realsense2_camera rs_launch.py enable_rgbd:=true enable_sync:=true align_depth.enable:=true enable_color:=true enable_depth:=true rgb_camera.color_profile:=848x480x30 depth_module.depth_profile:=848x480x30

ros2 launch camera_ur_integration camera_ur_integration.launch.py

ros2 launch ur5e_motion_planning camera_ur5e_moveit.launch.py ur_type:=ur5e

ros2 launch robotiq_description robotiq_control.launch.py hardware_protocol:=tcp socket_host:=192.168.0.100 socket_port:=63352

ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/ParallelGripperCommand "{command: {name: ['robotiq_85_left_knuckle_joint'], position: [0.7929], velocity: [0.1], effort: [50.0]}}"

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.0.100 kinematics_params_file:="${HOME}/my_robot_calibration.yaml" launch_rviz:=false description_launchfile:=$(ros2 pkg prefix robotiq_description)/share/robotiq_description/launch/view_ur5e_gripper_camera.launch.py controllers_file:=$(ros2 pkg prefix ur_robotiq_compatibility)/share/ur_robotiq_compatibility/configs/ur5e_robotiq_controller.yaml