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The problem is likely with the parent link of the joint you use to couple the gripper to the robot.

You instantiate the robot xacro like this:

<xacro:ur10e_robot prefix="${prefix}robot_" joint_limited="false"/>

Note the value for prefix: robot_.

You then specify the following as the parent link:

<parent link="${prefix}ee_link" />

So basically: ee_link.

But the prefix for the robot's xacro:macro was robot_, so there is no ee_link, only robot_ee_link.

The same for the gripper.

You'll probably want to change things to:

<joint name="${prefix}ee_link-${prefix}robotiq_3f_base_link" type="fixed">
  <origin xyz="0 0 0" rpy="0 0 0" />
  <parent link="${prefix}robot_ee_link" />
  <child link="${prefix}gripper_palm" />
</joint>