This project was an effort from a team of 4 in the development of a methodology for the implementation of ROS with existing lab equipment including the UR5e, and some of the work cells that were available on the Automation and Industrial Manufacturing Lab from Anahuac University. Different simulations were performed with different parameters, sensors, and different data was transmitted. The framework allowed the connection of ROS with the physical Robot and a virtual twin. An extra effort was given in the complete documentation of the whole process for future reference by the lab administrators. Data could be sent and read from the robot using ROS allowing the creation of more complex work cells in the future.