In gazebo the giving the ur5 coordinate goals is working perfectly. However, with the real ur5 there are some existing disparities with its movements.

Here are my start up commands:

roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=ROBOTIP [reverse_port:=REVERSE_PORT]
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true

I am using the TracIK plugin for my kinematics solver. The following code is how i define the ur5 to move 0.1 meters in the y direction.

pose_goal = geometry_msgs.msg.Pose()
pose_goal.position.x = group.get_current_pose().pose.position.x;
pose_goal.position.y = group.get_current_pose().pose.position.y + 0.1;
pose_goal.position.z = group.get_current_pose().pose.position.z;
pose_goal.orientation.x = group.get_current_pose().pose.orientation.x;
pose_goal.orientation.y = group.get_current_pose().pose.orientation.y;
pose_goal.orientation.z = group.get_current_pose().pose.orientation.z;
pose_goal.orientation.w = group.get_current_pose().pose.orientation.w;
group.set_pose_target(pose_goal)

The ur5 is moving in the correct direction every time, but there's quite a lot of inaccuracy in its expected and actual end-effector positions after stopping, the largest of which I've seen is an actual y coordinate of 0.43 versus an expected y coordinate of 0.508. The disparity between the actual and expected coordinates is not the same every time.

Can someone point me in the right direction of where I should be looking to fix this issue? Please let me know if I need to post more information.

Edit - now with full planning execution log after switching to UniversalRobots/UniversalRobotsROS_Driver:

    shu@sewts-ideapad-002:/opt/ros/kinetic/share/ur5_moveit_config/config$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
... logging to /home/shu/.ros/log/0c4ff900-0c7b-11ea-abbf-98fa9b14f60a/roslaunch-sewts-ideapad-002-28607.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sewts-ideapad-002:43151/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.01
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description_kinematics/manipulator/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.0gz1
 * /robot_description_kinematics/manipulator/solve_type: Manipulation2
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [28627]
[ INFO] [1574353327.897032338]: Loading robot model 'ur5'...
[ WARN] [1574353327.897081694]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1574353327.897097681]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1574353327.938687844]: IK Using joint shoulder_link -6.28319 6.28319
[ INFO] [1574353327.938711653]: IK Using joint upper_arm_link -6.28319 6.28319
[ INFO] [1574353327.938720071]: IK Using joint forearm_link -3.14159 3.14159
[ INFO] [1574353327.938727794]: IK Using joint wrist_1_link -6.28319 6.28319
[ INFO] [1574353327.938738967]: IK Using joint wrist_2_link -6.28319 6.28319
[ INFO] [1574353327.938748256]: IK Using joint wrist_3_link -6.28319 6.28319
[ INFO] [1574353327.938762155]: Looking in common namespaces for param name: manipulator/position_only_ik
[ INFO] [1574353327.940070404]: Looking in common namespaces for param name: manipulator/solve_type
[ INFO] [1574353327.942067769]: Using solve type Manipulation2
[ INFO] [1574353327.965545026]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1574353327.967543475]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1574353327.967565320]: Starting scene monitor
[ INFO] [1574353327.969323588]: Listening to '/planning_scene'
[ INFO] [1574353327.969339594]: Starting world geometry monitor
[ INFO] [1574353327.971398606]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1574353327.973437948]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1574353327.980282358]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1574353327.999511248]: Initializing OMPL interface using ROS parameters
[ INFO] [1574353328.018657218]: Using planning interface 'OMPL'
[ INFO] [1574353328.020718940]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1574353328.021076216]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1574353328.021416209]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1574353328.021768318]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1574353328.022097351]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1574353328.022381381]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1574353328.022409932]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1574353328.022420776]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1574353328.022431443]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1574353328.022441401]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1574353328.022451397]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1574353328.326573883]: Added FollowJointTrajectory controller for /scaled_pos_traj_controller
[ INFO] [1574353328.326746161]: Returned 1 controllers in list
[ INFO] [1574353328.360978302]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1574353328.525438728]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1574353328.525594788]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1574353328.525663853]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1574353360.647292706]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1574353360.650081281]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1574353360.651026382]: RRTConnect: Starting planning with 1 states already in datastructure
[ERROR] [1574353365.653833286]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1574353365.653884587]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1574353365.653916727]: No solution found after 5.003178 seconds
[ INFO] [1574353366.663765610]: Unable to solve the planning problem

1. Followed the building instructions in the Universal_robots_ROS_Driver. ur_robot_driver wasn't being recognized as a package so I put this in the ~/catkin_ws/src and rebuilt my workspace. 
2. Extracted calibration information about the UR5.
3. Changed my ur5_moveit_config/config/controllers.yaml to look for the action server /scaled_pos_traj_controller/follow_joint_trajectory
4. Launched the ur5_bringup file in ur_robot_driver with the calibration file passed in
5. roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
6. Ran my script to try and move the robot in the y coordinate direction.