Hi @gcelec,
The servo_n_* joystick function pins are not yet configurable, so you’ll need to use the devices on the relevant pins (9,10,11 for Navigator). Without modifying ArduSub, if you have other functionalities currently in use on pins 9 and 10 then you’ll need to move those to other pins.
The gripper installation instructions should work, but as per the wiring section you need to use pins 9, 10, and/or 11 for Navigator at the moment.