The following steps will set up a robot arm able to communicate with ROS in RobotStudio: You can look online for tutorials or have a look at the RobotStudio forum). Note that there is a 30-days trial version of the software, but that you will need a license in the long run (RobotStudio is a very powerful tool with many options.
Install ABB RobotStudio from the ABB website. The following steps will guide you for setting up the environment on the WINDOWSPC: In this case, there are two PC's: one PC running windows and a simulated ABB arm (called the WINDOWSPC from now on) and one PC running Ubuntu and ROS (called ROSPC from now on). It's possible to simulate the communication between ROS and an ABB arm, by replacing the real arm by a simulated arm.
