Is it possible to access the I/O-groups?

[stevkr]

Hi,
is it possible with iiwa_stack to access a connected I/O group?
Background is the following:
I want to control an iiwa 14 R820 via ROS and I have installed a valve and some more devices that are normally switched on and off via commands in Sunrise Workbench (via previously configured I/O group in WorkVisual and controlled via X65 connector).
That valve I would like to control also via ROS and no longer via a Workbench program. Is this possible?

Many greetings

[exo-core]

You would need to provide a custom implementation of the ROSTool class and change the line

protected ROSTool rosTool = null;

in /src/de/tum/in/camp/kuka/ros/app/ROSBaseApplication.java to load it. There are some examples is the iiwa_stack_tools repository.