URCap could claim the Tool-IO

[fmauch]

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.

[danzimmerman]

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

[fmauch]

@danzimmerman I've created a corresponding issue and PR relative to that. Thanks for the suggestion.