This paper shows the implementation of a control of a real UR5 robot from Matlab/Simulink using ROS. The desired trajectories are designed in Matlab, tested in Simulink and the ROS Toolbox is used to send these trajectories from Simulink to ROS, using a Python file to make the connection. The robot simulator CoppeliaSim is used to test the movement of the robot before sending it to the real manipulator. Different trajectories are tested on a UR5 robot. This paper hopes to help the researchers that have experience in Matlab and want to move a UR5 robot without the use of other platforms.