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When I load the
ur5.urdf.xacrofile [..]
It may be a bit confusing with all those files in the urdf directory, but ur5.urdf.xacro is not a top-level xacro (it doesn't instantiate a macro that provides a root link), so you can't load that.
For the UR5, load either the ur5_robot.urdf.xacro or the ur5_joint_limited_robot.urdf.xacro file. The former sets the joint limits to their actual values (+-2pi for all joints), while the latter restricts that to half of that (+-pi). MoveIt (and/or some of its planners) don't work too well with full 2pi joint limits, hence the joint limited variant of that file.
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