Driver and simulation for ROS to control the WSG 50 gripper http://www.weiss-robotics.de/en/gripper-systems/gripper-modules/universal-parallel-gripper-wsg-50.html.
Original source: svn http://wsg50-ros-pkg.googlecode.com/svn/trunk/
Updated source: git https://github.com/nalt/wsg50-ros-pkg.git
The package supports communication via UDP, TCP (and CAN, with limitations). The gripper can be controlled with a service interface, or using topics for closed-loop control and high-rate feedback (up to 140Hz on HW revision 2). Up two two FMF fingers are supported.
Wiki for new features: https://github.com/nalt/wsg50-ros-pkg
Original wiki (service interface): https://code.google.com/p/wsg50-ros-pkg/wiki/wsg_50