$ git clone -b -devel https://github.com/ros-industrial/universal_robot.git
$ git clone https://github.com/dairal/ur5-joint-position-control.git
$ sudo apt-get install ros-$ROS_DISTRO-ros-control ros-$ROS_DISTRO-ros-controllers
$ git clone https://github.com/qleydon/RobotControl.git
$ catkin_make
$ source devel/setup.bash
$ roslaunch gazebo_ros empty_world.launch
$ rosrun gazebo_ros spawn_model -file rospack find ur5-joint-position-control/urdf/ur5_jnt_pos_ctrl.urdf -urdf -x 0 -y 0 -z 0.1 -model ur5
new terminal
$ source devel/setup.bash
$ roslaunch ur5-joint-position-control ur5_joint_position_control.launch
new terminal
$ source devel/setup.bash
$ roslaunch ur5_control IK.launch