Be sure to install the moveit_simple_controller_manager package in addition to those mentioned below.
Install the package from package management, and run the MoveIt! planning demo:
$ sudo apt-get install ros-indigo-aubo-i5-moveit-config $ roslaunch aubo_i5_moveit_config demo.launch
This is not a real simulation, just a demonstration of the planning capability and the MoveIt! and RViz integration. For true simulation of a AUBO-i5, see the aubo_gazebo package.
See also the relevant sections in the readme on Github.