Hi all. I am using Ros1 Kinetic on Ubuntu 16.04LTS, gazebo7 and rviz 1.12.17, I am simulating Universal robot UR5 but there are problems one of them is the robot is shakey and 2nd is I cant controll the robot I want to simulate and add a camera to it.

the following is my launch file:

and this is my ur5robotiq85gripper.urdf.xacro file

xmlns:xacro="http://www.ros.org/wiki/...>

0.9 0.9 Gazebo/FlatBlack

/xacro:robotiq_85_gripper

true 250.0 ftsensor/raw 0.0 wrist3_joint

2 2 3 robotiq85leftfingertiplink</gripperlink> robotiq85rightfingertiplink</gripperlink> robotiq85baselink</palmlink>

please advise I cant see the camera out put in rviz nor can I control the robot.