Cannot read the status and send commands to gripper at the same time!?

[radhen]

I am able to read the status of the gripper if I launch the wsg_50_tcp_script.launch with com_mode argument set to "auto_update" but I cannot send commands to grippers. And when I change the com_mode argument to "polling" I can send commands to gripper and move it but I do not have access to the gripper status anymore. I would like to read the status and send commands at the same time.

I read somewhere in the wsg50-ros-pkg that the services currently block the status update. Does it mean I cannot have both the functionalities running at the same time? How should I go about resolving this issue?

I am in a time crunch unfortunately. Quick response is very much appreciated. Thank you!