diff --git a/ur_robot_driver/doc/check_firewalls.md b/ur_robot_driver/doc/check_firewalls.md
new file mode 100644
index 000000000..23275e088
--- /dev/null
+++ b/ur_robot_driver/doc/check_firewalls.md
@@ -0,0 +1,96 @@
+# Check common firewalls on Linux
+
+When using this driver with a robot it is important that the robot can establish a connection to the
+machine running this driver on a couple of ports. In case there is a firewall active without a
+special configuration it will most likely block this connection.
+
+In order for this driver to work correctly, the firewall has to allow connections to the ports
+**50001, 50002 and 50003**. Obviously, as soon as you change the port arrangement manually, any firewall rules
+have to be changed accordingly.
+
+**NOTE: The steps shown in this tutorial will get your machine running with a robot connecting to
+it. It is not a full guide to Linux firewalls. Changing your firewall settings is potentially
+opening security holes in your local machine. In case of doubt, ask your local system administrator
+for advice before altering your firewall settings.**
+
+Changing your firewall settings will most likely require root (sudo) access to your local machine.
+If you don't have this, you'll have to talk to your local system administrator.
+
+## UFW
+Probably the most common firewall on Ubuntu systems is the [Uncomplicated Firewall (UFW)](https://help.ubuntu.com/community/UFW)
+
+To check whether it is active, run
+
+```
+sudo ufw status
+```
+
+In case the firewall is active, you will get the output
+
+```
+Status: active
+
+# possible list of added rules
+```
+
+If it is inactive, you will get `Status: inactive` or even `ufw: command not found` if it isn't
+installed, at all.
+
+
+### Add rules for driver
+To add rules for the `ur_robot_driver`, run
+
+```bash
+ROBOT_IP=192.168.56.101 # adapt to your particular robot_ip
+sudo ufw allow from $ROBOT_IP to any port 50001
+sudo ufw allow from $ROBOT_IP to any port 50002
+sudo ufw allow from $ROBOT_IP to any port 50003
+```
+
+If you want to change your robot's IP address regularly, you can skip the IP address and simply run
+
+```bash
+sudo ufw allow 50001
+sudo ufw allow 50002
+sudo ufw allow 50003
+```
+
+## firewalld
+Another common firewall on Linux is `firewalld`. An overview of its status (if installed) can be
+seen using
+
+```
+sudo firewall-cmd --list-all
+public (active)
+  target: default
+  icmp-block-inversion: no
+  interfaces: eth0
+  sources:
+  services: dhcpv6-client http https mysql ssh
+  ports:
+  protocols:
+  masquerade: no
+  forward-ports:
+  source-ports:
+  icmp-blocks:
+  rich rules:
+```
+
+To allow connections to the driver use
+
+```
+sudo firewall-cmd --permanent --zone=public --add-port=50001/tcp
+sudo firewall-cmd --permanent --zone=public --add-port=50002/tcp
+sudo firewall-cmd --permanent --zone=public --add-port=50003/tcp
+```
+
+Note: `firewalld` uses the concept of different trust zones. In the example above we modified the
+default `public` zone. Depending on your local setup it might make more sense to use a different
+zone.
+
+
+## iptables
+Probably also installed on most Ubuntu systems is `iptables`. It's configuration is not as simple as
+for example UFW, which is why we only link to the [upstream
+documentation](https://linux.die.net/man/8/iptables) here. If you have problems establishing a
+connection, it might be worth checking your iptables setup.
diff --git a/ur_robot_driver/scripts/network_debugging.py b/ur_robot_driver/scripts/network_debugging.py
index a988d338b..128c4919b 100755
--- a/ur_robot_driver/scripts/network_debugging.py
+++ b/ur_robot_driver/scripts/network_debugging.py
@@ -194,7 +194,10 @@ def run_checks(self):
                 "The ur_robot_driver is not running",
                 "The robot does not have ssh enabled / installed (e.g. when using a docker image)",
                 "This could potentially mean that there is a firewall "
-                + f"restricting access to port {self.parameters.reverse_port}",
+                + f"restricting access to port {self.parameters.reverse_port}"
+                + "See "
+                + "(https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/check_firewalls.md)"
+                + "on a short introduction to firewalls.",
             ],
             port=self.parameters.reverse_port,
         )
@@ -205,7 +208,10 @@ def run_checks(self):
                 "The ur_robot_driver is not running",
                 "The robot does not have ssh enabled / installed (e.g. when using a docker image)",
                 "This could potentially mean that there is a firewall "
-                + f"restricting access to port {self.parameters.script_sender_port}",
+                + f"restricting access to port {self.parameters.script_sender_port}"
+                + "See "
+                + "(https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/check_firewalls.md)"
+                + "on a short introduction to firewalls.",
             ],
         )
         self._run_check(
@@ -215,7 +221,10 @@ def run_checks(self):
                 "The ur_robot_driver is not running",
                 "The robot does not have ssh enabled / installed (e.g. when using a docker image)",
                 "This could potentially mean that there is a firewall "
-                + f"restricting access to port {self.parameters.trajectory_port}",
+                + f"restricting access to port {self.parameters.trajectory_port}"
+                + "See "
+                + "(https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/check_firewalls.md)"
+                + "on a short introduction to firewalls.",
             ],
             port=self.parameters.trajectory_port,
         )