Link UR5 Robot and Robotiq 3 Finger Gripper

Hey guys, im not very experienced using ROS. I want to add a Robotiq 3 finger gripper on a UR5 robot and simulate both in Gazebo to control it using MoveIt. I got the packages for the gripper [link text](http://wiki.ros.org/robotiq) and for the robot [link text](https://github.com/ros-industrial/universal_robot) but how can i link them together? Im using Ros Indigo on Ubuntu 14.04. Thanks for your support! --- Edit: Ok i tried this: But when i try to create a new package using the moveit_setup_assistant the terminal calls: [ INFO] [1489484583.186546879]: Running 'rosrun xacro xacro.py /home/mrk/catkin_ws/src/universal_robot-kinetic-devel/ur_description/urdf/ur5.gripper.xacro'... [ERROR] [1489484583.574528731]: No link elements found in urdf file The setup assistant reports an error: URDF/COLLADA file is not a valid robot model. Edit: When i use `ur_description/urdf/ur5_robot.urdf.xacro` instead of `ur_description/urdf/ur5.urdf.xacro` the assistant loads some files but there is no gripper attached to the robot Can someone help please? I use the files from the standard packages i mentioned before.