How to send FollowJointTrajectory goal/status to actual DC Motor

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I have created a custom robotic arm with two revolute joints that is moving in Rviz and Gazeebo. Now i want to send the joint positions to actual robot. How do i do that. I think I need to make an Action Client for this but I can't find how to make one to read trajectory goals generated by MoveIt. Can somebody help regarding this. I am attaching the output i get on doing rostopic echo

$ rostopic echo /uvbot_v1/arm_controller/follow_joint_trajectory/goal
WARNING: no messages received and simulated time is active.
Is /clock being published?
header: 
  seq: 2
  stamp: 
    secs: 255
    nsecs: 395000000
  frame_id: ''
goal_id: 
  stamp: 
    secs: 255
    nsecs: 395000000
  id: "/move_group-3-255.395000000"
goal: 
  trajectory: 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    joint_names: [joint1, joint2]
    points: 
      - 
        positions: [0.49336604685127927, 1.112543918611408]
        velocities: [0.0, 0.0]
        accelerations: [-0.9223423941897395, 0.0]
        effort: []
        time_from_start: 
          secs: 0
          nsecs:         0
      - 
        positions: [0.4845707448789484, 1.111678215207906]
        velocities: [-0.11132963480777286, -0.010957945965573037]
        accelerations: [-0.9852177117397862, -0.0969729440702013]
        effort: []
        time_from_start: 
          secs: 0
          nsecs: 138100194'

I want to send the joint position values via an Arduino to my stepper motor.