Robotiq gripper in Gazebo

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I am using a robotiq gripper with the UR10 robot. I have successfully spawned it in gazebo. However gazebo does not subscribe to the end effector topic. Any possible ways to solve this would be really helpful So mainly how to control robotiq gripper is my question.

launch file: <launch>

  <arg name="gazebo" default="true"/>
  <arg name="limited" default="false"/>
  <arg name="paused" default="false"/>
  <arg name="gui" default="true"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="load_robot_description" default="true"/>

  <param if="$(arg load_robot_description)" name="robot_description"
  command="$(find xacro)/xacro --inorder $(find bin_clearing_simulation_ur)/urdf/ur_test.urdf "/>
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="worlds/empty.world"/>
        <arg name="gui" value="true"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
      </include>

  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param 'robot_description' -model robot -z 0.1" respawn="false" output="screen" />
  <include file="$(find ur_gazebo)/launch/controller_utils.launch"/>

  <rosparam ns="/robot" file="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" command="load"/>
  <node pkg="robot_state_publisher" type="state_publisher" name="robotiq_hands_l_hand_robot_state_publisher"><param name="publish_frequency" type="double" value="50.0"/><remap from="joint_states" to="/robotiq_hands/left_hand/joint_states"/></node>

  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/robot" args="arm_controller"/>

</launch> -------------------------------------------------------ur_test.urdf----------------------- <robot xmlns:xacro="http://ros.org/wiki/xacro" name="assembled_robot">

<!-- THE ROBOT -->
<link name="world" />

<!-- UR from ROS-i repos -->
<xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />
<joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link = "simple_arm_base_link" />
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
<xacro:ur10_robot prefix="simple_arm_" joint_limited="false" />

<!-- Robotiq from Beta Robots fork-->
<xacro:include filename="$(find robotiq_s_model_visualization)/cfg/robotiq_hand_macro.urdf.xacro" />
<xacro:robotiq_hand prefix="simple_gripper" parent="simple_arm_tool0" reflect="" >
    <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
</xacro:robotiq_hand>

   <!-- Plugin -->
<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
  </plugin>
</gazebo>

</robot>