After adding grippers and chassis to the UR3 in ros, how to control the real UR3

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I can use ur3_bringup to connect real robotic arms. I can use ur3_moveit_planning_execution.launch to plan the UR3 (by moveit). but, It don't have robotiq-2f-140.

I copy ur3_moveit_config and I modify the file. I add the gripper to the UR3. I use moveit setup assistant to add two group,(arm and gripper) This package's name is my_ur3_new_moveit_config

I use my_ur3_new_moveit_config, BUT I can't control real UR3. Which files do I need to modify?