# Code of ROS/ROS2 in the OpenIGTLink

**URL:** <https://discourse.slicer.org/t/code-of-ros-ros2-in-the-openigtlink/28743>\
**Category:** Support\
**Created:** [April 4, 2023, 10:47am UTC](https://discourse.slicer.org/t/code-of-ros-ros2-in-the-openigtlink/28743 "2023-04-04T10:47:06Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Wilson\_HO](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/wilson_ho/32/65507_2.png) [@Wilson\_HO](https://discourse.slicer.org/u/Wilson_HO)\
**Post date:** [April 4, 2023, 10:47am UTC](https://discourse.slicer.org/t/code-of-ros-ros2-in-the-openigtlink/28743/1 "2023-04-04T10:47:07Z")

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Hi all,

I am a new user in the 3D Slicer, I want to write the code in the socket to connect my real UR5 and 3D Slicer without the ROS/ROS2.  
Where can find the code of ROS/ROS2 in the OpenIGTLink? I can imitate it in my code.

Thanks!