Ubuntu20.04 UR5 v3.7.2 ROS_driver

I’m using Ubuntu 20.04, and I want to know how to establish the UR_ROBOT_DRIVER correctly. My robot is UR5 with software v3.7.2. I tried with the guide in ‘GitHub - UniversalRobots/Universal_Robots_ROS_Driver at v2.0.0’, but when I click the run button in robot pendant show error:“编译错误:名称tool_contact 未定义”.

Hi, please use at lease Software 3.12, as stated in our project’s README. Please see here for further instructions: Universal Robots - LEGACY DOWNLOAD CENTER

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thanks,your suggestion works.