DoF - a Robotiq Community
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Hi @Carlos

To begin with: You can't access the gripper connected to the UR via USB using the Robotiq ROS packages directly.

However, check the answer I gave to @faizerd
here if you do really want to do that, since there might be a way (that I haven't tried, but it seems feasible).

If you have problems connecting the gripper to the PC using the Robotiq ROS packages and the tutorials you mentioned, then let me know and we can sort it out (think that if you already have a PC with ROS controlling your UR, probably it'd be better to connect the gripper to the PC as well, or use EtherCAT).