moveit setup show no active joints or end effectors found for group ''

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I forked ROS packages from ROS-I/universal_robot. And I follow Moveit Setup Assistant Tutorial. After setup Moveit config, I got a demo.launch file, then
roslaunch ur5_grasp_moveit_config demo.launch

I got the following errors, and the rviz did not show any interactive markers.

[ INFO] [1505957647.779692210]: Fake controller 'fake_ur5manipulator_controller' with joints [ shoulder_pan_joint shoulder_lift_joint elbow_joint wrist_1_joint wrist_2_joint wrist_3_joint ]  
[ INFO] [1505957647.788025775]: Fake controller 'fake_gripper_controller' with joints [ bh_j11_joint bh_j12_joint bh_j22_joint bh_j32_joint ]  
[ INFO] [1505957647.796457498]: Fake controller 'fake_moveit_ee_controller' with joints [ ]  
[ INFO] [1505957647.807434551]: Returned 3 controllers in list  
[ INFO] [1505956629.889136115]: Loading robot model 'ur5'...  
[ WARN] [1505956629.889226914]: Skipping virtual joint 'virtual_joint' because its child frame 'box_fixed_link' does not match the URDF frame 'world'  
[ INFO] [1505956631.143209340]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.  
[ INFO] [1505956631.143508371]: No active joints or end effectors found for group 'gripper'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.  
[ INFO] [1505956631.212833955]: No active joints or end effectors found for group 'gripper'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.  
[ INFO] [1505956631.213958002]: Constructing new MoveGroup connection for group 'gripper' in namespace ''  
[ INFO] [1505956633.034567194]: Ready to take commands for planning group gripper.

It seems that I got a group named '', it's so strange!

I make a robot using a fixed box as the human-like truck, a UR5 robot arm and a Kinect as human-like eyes.

My URDF model please see here

My SRDF file is here.

And I can't find a way to debug it.

My system configuration:
Ubuntu: 16.04 ROS: kinetic Moveit: 0.9.9-Alpha

Any help will be appreciated!