Connect my youbot arm with the moveit simulation model in rviz

edit

Hello,

i created the kuka youbot(arm only) simulation model with moveit. I can control the arm without any problems. In my next step i would like to connect the simulation model with the real youbot arm and let the arm move on command in my model.

I already found this: Implement Moveit on real Robot.

Can anybody tell me how the action server works and why i need that to control my actual arm?

How do i tell the controller of each joint to rotate like in my joint_states_topic?

Thanks!