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In short: after you have completed setting up your controller according to the official tutorial, the robot_ip argument should be set to the IP(v4) address of your IRC5 controller (either real or simulated).
This means you'll have to have configured networking correctly on your IRC5, and be able to ping the controller from your ROS PC.
If you only installed ROS Hydro because the PDF you linked instructs you to, I would recommend you start over with either Ubuntu Trusty (14.04) and ROS Indigo, or Ubuntu Xenial (16.04) and ROS Kinetic. The ABB packages are supported on both of these distributions and ROS releases. Then follow the official tutorial.
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