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In the last days, it was possible for me to create a new (own) robot with gripper supported by MoveIt, based on the FANUC package. For this I created three more packages (rebuild multiple times):

• Gripper (contains the xacro file with gripper geometrie)
• Laborroboter (contains the script to assembly the FANUC Cr-7iAl and the gripper to a new robot)
• Laborroboter_moveit_config (contains all the files created by the MSA)

I think the geometry of the assembly is correct. I checked it with the command urdf_to_graphiz. The output shows a smooth and logical structure.

After that I carried out the MSA accordingly to this tutorial: https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html Now I can load and plan the robot in a demo mode by using the command:

roslaunch laborroboter_moveit_config demo.launch

Furthermore helpfull is this source to understand the importance of the MSA and the basic understanding: http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot