How to Connect to UR5 with ROS

My robotic arm is a UR5, and the system is Ubuntu 20.04 with ROS1. In my workspace, I have installed the following files.
After connecting the arm using an Ethernet cable, I’d like to know how to establish a ROS connection with the UR5 arm. Additionally, I want to run a Python program on the computer.

Is there a tutorial or a similar step-by-step guide available for this process?

Follow the instructions on the official github site here GitHub - UniversalRobots/Universal_Robots_ROS_Driver: Universal Robots ROS driver supporting CB3 and e-Series

theres also some examples here
Universal_Robots_ROS_Driver/ur_robot_driver/doc/ at master · UniversalRobots/Universal_Robots_ROS_Driver · GitHub

The test_move file id in python and you can access a few different controllers there. This can be run by entering rosrun ur_robot_driver test_move into a terminal after starting the driver and connecting to the robot.

This youtube video also helped me when I was starting out you should do this before running test_move