How can I spawn a Robotiq Gripper with an UR5 in Gazebo and Rviz using Moveit! ?

Hi there, I'm trying to create a simulation with an UR5, the Robotiq FT150 Sensor and the Robotiq 85 Gripper. [Github/universal_robot](https://github.com/ros-industrial/universal_robot), [Github/robotiq](https://github.com/ros-industrial/robotiq) I integrated the gripper by referencing it in the ur5_robot.urdf: [...] The model of the gripper ([Github/StanleyInnovations](https://github.com/StanleyInnovation/robotiq_85_gripper)) is not suitable for Gazebo at the moment, so I tried to fix it using transmissions: transmission_interface/SimpleTransmissionPositionJointInterface1 But now this appears, while launching the model: [...] Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.110.200 [INFO] [WallTime: 1448960579.834783] [0.765000] Spawn status: SpawnModel: Successfully spawned model [ INFO] [1448960579.992465659, 0.765000000]: Loading gazebo_ros_control plugin [ INFO] [1448960579.992562338, 0.765000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1448960579.993397424, 0.765000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [spawn_gazebo_model-3] process has finished cleanly log file: /home/sensorik/.ros/log/03901976-97fe-11e5-aa51-f8b156bf3424/spawn_gazebo_model-3*.log [ WARN] [1448960580.154895328, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'hardware_interface::JointStateInterface'. [ WARN] [1448960580.154951108, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'hardware_interface::PositionJointInterface'. [ WARN] [1448960580.155454039, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'joint_limits_interface::PositionJointSaturationInterface'. [ WARN] [1448960580.155989982, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'hardware_interface::JointStateInterface'. [ WARN] [1448960580.156066422, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'hardware_interface::PositionJointInterface'. [ WARN] [1448960580.156464493, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'joint_limits_interface::PositionJointSaturationInterface'. [ WARN] [1448960580.156852348, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'hardware_interface::JointStateInterface'. [ WARN] [1448960580.156876036, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'hardware_interface::PositionJointInterface'. [ WARN] [1448960580.157257797, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'joint_limits_interface::PositionJointSaturationInterface'. [ WARN] [1448960580.157631933, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'hardware_interface::JointStateInterface'. [ WARN] [1448960580.157655654, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'hardware_interface::PositionJointInterface'. [ WARN] [1448960580.158047017, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'joint_limits_interface::PositionJointSaturationInterface'. [ WARN] [1448960580.158442487, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'hardware_interface::JointStateInterface'. [ WARN] [1448960580.158467058, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'hardware_interface::PositionJointInterface'. [ WARN] [1448960580.158913378, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'joint_limits_interface::PositionJointSaturationInterface'. [ WARN] [1448960580.159315827, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'hardware_interface::JointStateInterface'. [ WARN] [1448960580.159340518, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'hardware_interface::PositionJointInterface'. [ WARN] [1448960580.159694419, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'joint_limits_interface::PositionJointSaturationInterface'. [ INFO] [1448960580.178391688, 0.765000000]: Loaded gazebo_ros_control. Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov] Error [Param.cc:181] Unable to set value [0,100000001] for key[near] Loaded joint_state_controller Started ['joint_state_controller'] successfully Loaded arm_controller Started ['arm_controller'] successfully [joint_state_controller_spawner-6] process has finished cleanly log file: /home/sensorik/.ros/log/03901976-97fe-11e5-aa51-f8b156bf3424/joint_state_controller_spawner-6*.log [arm_controller_spawner-7] process has finished cleanly log file: /home/sensorik/.ros/log/03901976-97fe-11e5-aa51-f8b156bf3424/arm_controller_spawner-7*.log I'm using Ros Indigo. Would be nice if someone could help me. Best regard, J_Schaefer