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I didn’t feel any real connection between Rigsby and his father (I didn’t feel it in their Season 3 episode either), and that lack of connection diluted the emotional impact for me.
I think your perception is right, Fran, and so intended because Rigsby didn't have much of a connection with his dad. I think it's supposed to be portrayed that way, the most telling of this is that Rigsby didn't touch his father's hand in return when he placed his hand on his son's. Sad in a way ... but also reality in real people's lives, maybe for other reasons than dad having been in prison and involved with crime.