While doing a online course ,they told to to select controller doing rostopic list | grep arm. We looked at the arm topic and according to that edited the name of controller and the type of controller. for example

/rbkairos/arm_controller/command
/rbkairos/arm_controller/follow_joint_trajectory/cancel
/rbkairos/arm_controller/follow_joint_trajectory/feedback
/rbkairos/arm_controller/follow_joint_trajectory/goal
/rbkairos/arm_controller/follow_joint_trajectory/result
/rbkairos/arm_controller/follow_joint_trajectory/status
/rbkairos/arm_controller/state

from there we get to know that we have to use arm_controller and followtrajectory.

However , I was creating a moveit pakage on my local machine by just downloading urdf from github. In this case how can I choose a specific controller ? as if I am not running any launch file related to that urdf github there would be no topics to look into. My main goal is to move a real robot on the basis of programming.