Run the installer to install dependencies on kinetic:
./installdep
This will also create a new workspace called: ur5e_gripper_ws
Next up, build your workspace
cd ur5e_gripper_ws
catkin_make
universal_robot Universal_Robots_ROS_Driver robotiq roboticsgroup_gazebo_plugins ros_controllers
Usage with Gazebo
To launch jog_control:
roslaunch icl_ur5_setup_gazebo ur5e_gripper.launch
This will launch Gazebo, moveit! planner, rViz and launch jog_control for the ur5e.