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I'm using ROS Indigo, so I'm not sure if my answer makes sense foor Groovy, but I think it applies for both versions (and otherwise it may lead you in the right direction).

It seems if the ur5_moveit_config package cannot be found by the roslaunch application. So did you perform the following steps:

Download and install the universal_robot module, or create the ur5_moveit_config yourself using the tutorial?
Then build everything, using 'catkin_make'?
Setup the environment for your workspace (i.e. to set the right paths), using 'source devel/setup.bash'?

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