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Hi,

if you seek to control your real robot arm by using Moveit, there are a couple of steps you need to do.

I tried this launch file

roslaunch arm_moveit demo.launch

then print the /joint_states topic

rostopic echo /joint_states

if you control the robot in Rviz by using the planning tab, you will see some changes in the content of this topic

Here is an Arduino code that subscribes to /joint_states topic and controls 5 servo motors, you need to modify according to your robot arm and the type of it motors

https://github.com/smart-methods/arduino_robot_arm_gripper/blob/main/arduino_code/arduino_code.ino

After modifying the code and uploading it to Arduino board, you can control the real robot arm by launcing

roslaunch arm_moveit demo.launch
rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200