Need help integrating Kuka iiwa 14 hand guiding with ROS2 to collect position and force data.

I got hand guiding working without the hand guiding flange by using two switched and connecting them to the x11 port but now I want to connect it to ROS2 to get position and force data of the robot. I am using the lbr-fri-ros2 stack and using their sunrise code, but when adding the EMS for hand guiding mode, I can't run their program on my pendant. It seems like whenever I add the hand guiding inactive EMS, the pendant already has a program running before I can run my program. The play button on the pendant is also completely greyed out. I will attach my sunrise code here, any input is appreciated!

package lbr_fri_ros2;

import static com.kuka.roboticsAPI.motionModel.BasicMotions.positionHold;

import java.util.concurrent.TimeUnit;
import java.util.concurrent.TimeoutException;
import java.util.Arrays;

import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import com.kuka.roboticsAPI.controllerModel.Controller;
import com.kuka.roboticsAPI.deviceModel.LBR;
import com.kuka.roboticsAPI.uiModel.ApplicationDialogType;
import com.kuka.roboticsAPI.motionModel.controlModeModel.*;
import com.kuka.connectivity.fastRobotInterface.*;

public class LBRServer extends RoboticsAPIApplication {
    // members
    private LBR lbr_;
    private Controller lbr_controller_;

    // control mode
    private enum CONTROL_MODE {
        POSITION_CONTROL,
        JOINT_IMPEDANCE_CONTROL,
        CARTESIAN_IMPEDANCE_CONTROL;
    }

    // convert enum to string array, see https://stackoverflow.com/questions/13783295/getting-all-names-in-an-enum-as-a-string
    public static String[] getNames(Class<? extends Enum<?>> e) {
        return Arrays.toString(e.getEnumConstants()).replaceAll("^.|.$", "").split(", ");
    }

    // FRI parameters 
    private String client_name_;
    private String[] client_names_ = {"172.31.1.148", "192.170.10.1"};
    private int send_period_;    
    private String[] send_periods_ = {"1", "2", "5", "10"};  // send period in ms

    private FRIConfiguration fri_configuration_;
    private FRISession fri_session_;
    private FRIJointOverlay fri_overlay_;

    private AbstractMotionControlMode control_mode_;
    private String[] control_modes_ = getNames(CONTROL_MODE.class);
    private ClientCommandMode command_mode_;
    private String[] command_modes_ = getNames(ClientCommandMode.class);
    

    // methods
    public void request_user_config() {
        // send period
        int id = getApplicationUI().displayModalDialog(
                ApplicationDialogType.QUESTION, 
                "Select the desired FRI send period [ms]:", 
                send_periods_
        );
        send_period_ = Integer.valueOf(send_periods_[id]);
        getLogger().info("Send period set to: " + send_period_);
        
        // remote IP address
        id = getApplicationUI().displayModalDialog(
                ApplicationDialogType.QUESTION,
                "Select your remote IP address:",
                client_names_
        );
        client_name_ = client_names_[id];
        getLogger().info("Remote address set to: " + client_name_);

        // control mode
        id = getApplicationUI().displayModalDialog(
                ApplicationDialogType.QUESTION,
                "Select the desired FRI control mode: ",
                control_modes_                
        );

        CONTROL_MODE control_mode = CONTROL_MODE.values()[id];
        switch (control_mode) {
            case POSITION_CONTROL:
                control_mode_ = new PositionControlMode();
                break;
            case JOINT_IMPEDANCE_CONTROL:
                control_mode_ = new JointImpedanceControlMode(200, 200, 200, 200, 200, 200, 200);
                break;
            case CARTESIAN_IMPEDANCE_CONTROL:
                control_mode_ = new CartesianImpedanceControlMode();
                break;
        }
        getLogger().info("Control mode set to: " + control_mode.name());
        
        // command mode
        id = getApplicationUI().displayModalDialog(
                ApplicationDialogType.QUESTION,
                "Select the desired FRI client command mode: ",
                command_modes_                
        );
        command_mode_ = ClientCommandMode.values()[id];
        getLogger().info("Client command mode set to: " + command_mode_.name());    
    }
    
    public void configure_fri() {
        fri_configuration_ = FRIConfiguration.createRemoteConfiguration(lbr_, client_name_);
        fri_configuration_.setSendPeriodMilliSec(send_period_);
        
       getLogger().info("Creating FRI connection to " + fri_configuration_.getHostName());
       getLogger().info(
            "SendPeriod: " + fri_configuration_.getSendPeriodMilliSec() + "ms |"
            + " ReceiveMultiplier: " + fri_configuration_.getReceiveMultiplier()
       );
       
       fri_session_ = new FRISession(fri_configuration_);
       fri_overlay_ = new FRIJointOverlay(fri_session_, command_mode_);
       
       fri_session_.addFRISessionListener(new IFRISessionListener() {
            @Override
            public void onFRISessionStateChanged(FRIChannelInformation friChannelInformation) {
                getLogger().info("Session State change " + friChannelInformation.getFRISessionState().toString() );
            }
    
            @Override
            public void onFRIConnectionQualityChanged(FRIChannelInformation friChannelInformation) {
                getLogger().info("Quality change signalled "+friChannelInformation.getQuality());
                getLogger().info("Jitter "+friChannelInformation.getJitter());
                getLogger().info("Latency "+friChannelInformation.getLatency());
            }
       });        
       
       // try to connect
       try {
           fri_session_.await(10, TimeUnit.SECONDS);
       } catch (final TimeoutException e) {
           getLogger().error(e.getLocalizedMessage());
           return;
       }
       
       getLogger().info("FRI connection established.");
    }
    
    @Override
    public void initialize() {
       lbr_controller_ = (Controller) getContext().getControllers().toArray()[0];
       lbr_ = (LBR) lbr_controller_.getDevices().toArray()[0];
        
       // set FRI parameters
        request_user_config();
        
        // configure the FRI
        configure_fri();
    }

    @Override
    public void run() {
        // run the FRI
        lbr_.move(positionHold(control_mode_, -1, TimeUnit.SECONDS).addMotionOverlay(fri_overlay_));            
        return;
    }
    
    @Override
    public void dispose() {
        // close connection
        getLogger().info("Disposing FRI session.");
        fri_session_.close();

        super.dispose();
    }
    
    /**
     * main
     * 
     * @param args
     */
    public static void main(final String[] args) {
        LBRServer app = new LBRServer();
        app.runApplication();
    }
}