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From this:

galf@galf:~/Desktop/ur5/catkin_ws$ rostopic pub /ur5/joints_group_velocity_controller/command std_msgs/Float64MultiArray ...

it seems you're using a JointGroupVelocityController with your driver (note: this cannot be ur_driver, as that's not a ros_control compatible driver).

That controller requires a configuration stanza similar to this:

joint_group_vel_controller:
   type: velocity_controllers/JointGroupVelocityController
   joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint

The order in which you should provide the data to the joints_group_velocity_controller/command would be the same order as specified in the configuration stanza I've included above.

From this:

galf@galf:~/Desktop/ur5/catkin_ws$ rostopic pub /ur5/joints_group_velocity_controller/command std_msgs/Float64MultiArray ...

it seems you're using a JointGroupVelocityController with your driver (note: this cannot be ur_driver, as that's not a ros_control compatible driver).

That controller requires a configuration stanza similar to this:

joint_group_vel_controller:
   type: velocity_controllers/JointGroupVelocityController
   joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint

The order in which you should provide the data to the joints_group_velocity_controller/command would be the same order as specified in the configuration stanza I've included above.

From this:

galf@galf:~/Desktop/ur5/catkin_ws$ rostopic pub /ur5/joints_group_velocity_controller/command std_msgs/Float64MultiArray ...

it seems you're using a JointGroupVelocityController with your driver (note: this cannot be ur_driver, as that's not a ros_control compatible driver).

That controller requires a configuration stanza similar to this:

joint_group_vel_controller:
   type: velocity_controllers/JointGroupVelocityController
   joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint

The order in which you should provide the data to the joints_group_velocity_controller/command would be the same order as specified in the configuration stanza I've included above.here.

So to command the joints, I need fill out data as data: [0,0,0,0,0,0] but I don't know the order of joints. How this works in ROS? Does data[0] represent elbow_joint?

this is not really "in ROS". It's just a consequence of how the ros_control developers implemented their infrastructure.

From this:

galf@galf:~/Desktop/ur5/catkin_ws$ rostopic pub /ur5/joints_group_velocity_controller/command std_msgs/Float64MultiArray ...

it seems you're using a JointGroupVelocityController with your driver (note: this cannot be ur_driver, as that's not a ros_control compatible driver).

That controller requires a configuration stanza similar to this:

joint_group_vel_controller:
   type: velocity_controllers/JointGroupVelocityController
   joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint

The order in which you should provide the data to the joints_group_velocity_controller/command would be the same order as specified in the configuration stanza I've included here.

So to command the joints, I need fill out data as data: [0,0,0,0,0,0] but I don't know the order of joints. How this works in ROS? Does data[0] represent elbow_joint?

this is not really "in ROS". It's just a consequence of how the ros_control developers implemented their infrastructure.

From this:

galf@galf:~/Desktop/ur5/catkin_ws$ rostopic pub /ur5/joints_group_velocity_controller/command std_msgs/Float64MultiArray ...

it seems would appear you're using a JointGroupVelocityController with your driver (note: this cannot be ur_driver, as that's not a ros_control compatible driver).

That controller requires a configuration stanza similar to this:

joint_group_vel_controller:
   type: velocity_controllers/JointGroupVelocityController
   joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint

The order in which you should provide the data to the joints_group_velocity_controller/command would be the same order as specified in the configuration stanza I've included here.

So to command the joints, I need fill out data as data: [0,0,0,0,0,0] but I don't know the order of joints. How this works in ROS? Does data[0] represent elbow_joint?

this is not really "in ROS". It's just a consequence of how the ros_control developers implemented their infrastructure.

The tree appears as shoulder_pan_joint > shoulder_lift_joint > elbow_joint > wrist_1_joint > wrist_2_joint > wrist_3_joint. I don't know why ROS puts them in alphabetical order.

For this, see #q356347, #q282097, #q221560 and #q351105.