This package is part of the aubo_robot program.
Be sure to install the moveit_simple_controller_manager package in addition to those mentioned below.
To simulate a AUBO-i5 and control it in simulation, first install the necessary packages:
$ sudo apt-get install \ ros-indigo-aubo-gazebo \ ros-indigo-aubo-i5-moveit-config \
To launch the simulated arm and a controller for it, run:
$ roslaunch aubo_gazebo aubo_i5.launch
and in another terminal:
$ roslaunch aubo_i5_moveit_config aubo_i5_moveit_planning_execution.launch sim:=true
To control the simulated arm from RViz, also run:
$ roslaunch aubo_i5_moveit_config moveit_rviz.launch config:=true
You should now be able to drag the end effector goal to create a plan for the simulated arm to execute.
See also the sections Usage with Gazebo Simulation and MoveIt! with a simulated robot in the readme on Github.