I have recorded all the important steps to bring up UR5 robot for ROS. If there is something, please let me know and I shall make a video and upload. Thank you. Links are here.
https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#setting-up-a-ur-robot-for-ur_robot_driver
https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_cb3.md
You can also find my blog in Github regarding this on https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/301
