# How to Connect to UR5 with ROS

**URL:** <https://forum.universal-robots.com/t/how-to-connect-to-ur5-with-ros/32812>\
**Category:** ROS\
**Created:** [February 19, 2024, 1:28am UTC](https://forum.universal-robots.com/t/how-to-connect-to-ur5-with-ros/32812 "2024-02-19T01:28:38Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![LSH923](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/lsh923/32/5873_2.png) [@LSH923](https://forum.universal-robots.com/u/LSH923)\
**Post date:** [February 19, 2024, 1:28am UTC](https://forum.universal-robots.com/t/how-to-connect-to-ur5-with-ros/32812/1 "2024-02-19T01:28:38Z")

</div>

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?  
 ![1708304049873](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/9/9b6bd031df64a4ae875b9c7525e51eb76ec79235.jpeg)

---

<div class="post-metadata">

**Author:** ![emwilliams](https://avatars.discourse-cdn.com/v4/letter/e/e480ec/32.png) [@emwilliams](https://forum.universal-robots.com/u/emwilliams)\
**Post date:** [March 8, 2024, 3:43pm UTC](https://forum.universal-robots.com/t/how-to-connect-to-ur5-with-ros/32812/2 "2024-03-08T15:43:51Z")

</div>

Follow the instructions on the official github site here [GitHub - UniversalRobots/Universal\_Robots\_ROS\_Driver: Universal Robots ROS driver supporting CB3 and e-Series](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/tree/master#setting-up-a-ur-robot-for-ur_robot_driver)

theres also some examples here  
[Universal\_Robots\_ROS\_Driver/ur\_robot\_driver/doc/usage\_example.md at master · UniversalRobots/Universal\_Robots\_ROS\_Driver · GitHub](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/usage_example.md)

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 [https://youtu.be/BS6pFmr7\_lA?si=0iMyLaV-Z21bZvsW](https://youtu.be/BS6pFmr7_lA?si=0iMyLaV-Z21bZvsW)