Please refer to different branch for just Robotiq Gripper with action client for joint state feedback without Arduino or Vaccuum.
notice that this code is updated based on Robotiq controller.
I only made updates to Robitiq_control and added Arduino connection functionality and feedback for the vaccuum to activate according to Robotiq_joint_state.
Arduino code for Vaccum activation and ROS communication is included in this repository.
inside the nodes file, it includes action server and client for the gripper so that it will be able to read point joint command from 0 -> 0.8.
Also you are able to visualize the change in joint state in RViz.