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I don't know if I should answer my own question or not, so I'll post a comment until told otherwise.

I solved my problem. What I did is configure "trajectory_execution.launch.xml" file in MoveIt package to use MoveItSimpleControllerManager

   <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />

Then I changed my ros_controller yaml file in my robot hardware package for joint 5 to be a JointTrajectoryController, this like:

gripper_controller:
  type: position_controllers/JointTrajectoryController
  joints:
    - jt5_joint

It seems MoveIt only support JointTrajectoryController controllers, I'm probably wrong but I couldn't get it work any other way. The main thing is, it works now, i can control all four joints for arm movement and gripper to grip things all from RVIZ. Next thing is to control is via python.

I don't know if I should answer my own question or not, so I'll post a comment until told otherwise.

I solved my problem. What I did is configure "trajectory_execution.launch.xml" file in MoveIt package to use MoveItSimpleControllerManager

   <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />

Then I changed my ros_controller yaml file in my robot hardware package for joint 5 to be a JointTrajectoryController, this like:

gripper_controller:
  type: position_controllers/JointTrajectoryController
  joints:
    - jt5_joint

It seems MoveIt only support JointTrajectoryController controllers, I'm probably wrong but I couldn't get it to work any other way. The main thing is, it works now, i can control all four joints for arm movement and gripper to grip things all from RVIZ. Next thing is to control is via python.