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You could have a look at tams_ur5 and tams_ur5_setup for a complete urdf+moveit configuration that includes a ur5 arm.

In case you want to try it out: we use a custom fork of the universal_robot description because they didn't want to merge our change upstream: https://github.com/ros-industrial/universal_robot/pull/267

To tackle your problem, you have to write your own urdf(/xacro) to describe a setup. The UR5 is just one piece of it then. Afterwards you can run the setup assistant to generate a moveit configuration from it.