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Start with the moveit tutorials under ros-kinetic because they use the UR5. http://docs.ros.org/kinetic/api/moveit_tutorials/html/index.html
I've previously written a tutorial on connecting to a physical arm: https://github.com/jaspereb/UR5_With_ROS_Moveit_Tutorial
You can also use the database feature of moveit to store poses that you set manually.
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Start with the moveit tutorials under ros-kinetic because they tutorials, these use the UR5.
http://docs.ros.org/kinetic/api/moveit_tutorials/html/index.html UR5 arm. Panda arm rather than UR5 but it is a very similar setup process.
https://ros-planning.github.io/moveit_tutorials/
I've previously written a tutorial on connecting to a physical arm: https://github.com/jaspereb/UR5_With_ROS_Moveit_Tutorial
You can also use the database feature of moveit to store poses that you set manually.
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