ROS2
Robotiq is currently working to provide an official supported ROS 2 driver for 2F85, 2F140 and Hande grippers.
Grippers are controlled by writting their registers using modbus RTU protocol. You will find detailed information in the gripper manual available on robotiq support page: https://robotiq.com/support
While not developped and supported by robotiq some ROS driver project have been done by the community: