Open a Linux^® terminal from a catkin workspace where you have downloaded ROS packages from Universal Robots.

Run the following command to set ROS IP and ROS MASTER URI environment variables.

>>export ROS_IP=<ip_address> 
>>export ROS_MASTER_URI=http://$ROS_IP:11311

Replace <ip_address> with the IP address of the Linux machine with ROS. Ensure that the IP is reachable from the host where MATLAB^® is installed.

Execute the following commands to launch Gazebo simulation with UR5 robot.

>>source devel/setup.bash 
>>roslaunch ur_gazebo ur5_bringup.launch 

>>source devel/setup.bash

>>roslaunch ur_gazebo ur5_bringup.launch