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I can connect UR5e with ur_modern_driver by:

roslaunch ur_modern_driver ur5e_ros_control.launch robot_ip:=YOUR_ROBOT_IP

I set the network static on the UR side and select the remote control mode on the upper right corner. At this step, I can read joint angles in real time(so-called).

For controlling it, I used the template moveit package in universal_robot, ur5_e_moveit_config. I set up the controller name in controller.yaml and created joint_names.yaml for joint names. Be careful that the first joint is not the shoulder but elbow. You should have viewed it by echo /joint_states.

Then I modified the ur5_e_moveit_controller_manager.launch.xml to direct my new controller file. And finally I disabled the fake controller in the demo.launch in the moveit_config package and set up real \joint_states instead.