IO controler for clearpath & ur manipulator setup

[NajteR]

Describe the the feature you would like
I have not found a simple solution for connecting the manipulator IO with clearpath environment.
Missing GPIO controler after code generation.

control.yaml file:

a200_XXXX/manipulators:
  controller_manager:
    rosparameters:
      update_rate: 500
      joint_state_broadcaster:
        type: 'joint_state_broadcaster/JointStateBroadcaster'
      arm_0_joint_trajectory_controller:
        type: 'joint_trajectory_controller/JointTrajectoryController'
  arm_0_joint_trajectory_controller:
    rosparameters:
      joints: ['arm_0_shoulder_pan_joint', 'arm_0_shoulder_lift_joint', 'arm_0_elbow_joint', 'arm_0_wrist_1_joint', 'arm_0_wrist_2_joint', 'arm_0_wrist_3_joint']
      command_interfaces: ['position']
      state_interfaces: ['position', 'velocity']
      state_publish_rate: 100.0
      action_monitor_rate: 20.0
      allow_partial_joints_goal: False
      constraints:
        stopped_velocity_tolerance: 0.0
        goal_time: 0.0

Other notes
From UR5 docks:
ur_controllers/GPIOController
This controller allows setting I/O ports, controlling some UR-specific functionality and publishes status information about the robot.

Temporary solution
After editing the control.yaml the io controller works but when the clearpath generator runs it disappears.

a200_XXXX/manipulators:
  controller_manager:
    ros__parameters:
      update_rate: 500
      joint_state_broadcaster:
        type: 'joint_state_broadcaster/JointStateBroadcaster'
      arm_0_joint_trajectory_controller:
        type: 'joint_trajectory_controller/JointTrajectoryController'
      io_and_status_controller:
        type: ur_controllers/GPIOController
  arm_0_joint_trajectory_controller:
    ros__parameters:
      joints: ['arm_0_shoulder_pan_joint', 'arm_0_shoulder_lift_joint', 'arm_0_elbow_joint', 'arm_0_wrist_1_joint', 'arm_0_wrist_2_joint', 'arm_0_wrist_3_joint']
      command_interfaces: ['position']
      state_interfaces: ['position', 'velocity']
      state_publish_rate: 100.0
      action_monitor_rate: 20.0
      allow_partial_joints_goal: False
      constraints:
        stopped_velocity_tolerance: 0.0
        goal_time: 0.0
  io_and_status_controller:
    ros__parameters:
      tf_prefix: "arm_0_"