read robotiq force sensor together with UR5

[Gloriabhsfer]

Hi all:

I am doing force control research on ur5 and need the force information from the robotiq force sensor. My system is Ubuntu 16.04 and kinetic. I have check many methods like:
https://github.com/ibaranov-cp/husky_UR_accessories/tree/master/robotiq_force_torque_sensor But I am not sure what is the udev in these methods.
My understanding for connecting my PC to UR5 is using the TCP/IP mode. And the Robotiq force sensor is connected on UR5, can I read the data by calling the same IP address? Or when my PC is connected with UR5, it means UR5 is already part of my computer, and I can read information by reading some port like /tty/usb0.
Otherwise, I need to connect my force sensor's usb on my computer, but it cannot achieve a wireless control.
Any ideas?
Best,
Gloria