Controlling Gazebo simulated robot from moveit(c++)

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Hello all, I have written a c++ code to send pose to robot joints and visualise it using rviz.

Now i want to visualise this motion planning on Gazebo. I have found this tutorial which shows a similar implementation.

I see several launch files and .yaml files in the package of those tutorials. My main question is:

1. How are those all launch files/ .yaml files are created? I mean how to create this framework to control the gazebo simulated robot from moveit??

2. Are there any tutorials which explain this??

Any kind of help is appreciated. Thanks in advance.