MoveIt 2 controllers

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Hi, I'm trying to use MoveIt 2's Low Level Controller feature to interface with a physical robotic arm (Staubli TX2-90L) but I'm quite confused. I used the Moveit setup assistant and have a ros2_controllers.yaml file (indentation is wrong):

controller_manager:
ros__parameters:
update_rate: 100  # Hz

staubli_arm_controller:
  type: joint_trajectory_controller/JointTrajectoryController

joint_state_broadcaster:
  type: joint_state_broadcaster/JointStateBroadcaster

staubli_arm_controller:
  ros__parameters:
joints:
  - joint_1
  - joint_2
  - joint_3
  - joint_4
  - joint_5
  - joint_6
command_interfaces:
  - position
state_interfaces:
  - position
  - velocity

This "controller" is apparently being started and publishes to the correct topics but that's about as far as I get. I'd imagine i'd need to implement some custom node that listens to these topics but this isn't apparent to me. Furthermore, I have no idea what the MoveIt Controller Manager is doing in all this. Any help regarding how these controllers work would be very much appreciated.