How do I simulate Kuka Robots and control it using Moveit?

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As I understand, there is KUKA support in ROS Industrial Package. Say for example, I want to simulate the KR 5 Robotic Arm using ROS? How do I go on about doing it? I am a total beginner, but as far I can tell, I need to it in the following way:

• Clone KUKA Support Repo from Github
• Build it
• Roslaunch the Model

After that I get a GUI to control the Joints, and the Robot is shown in Rviz. But since I want to see how the robot, acts in real world I need to use Gazebo? (is this statement true?) For that I need to define a separate file which is not included in the KUKA Support and define the URDF file with Joint types, collision and stuff like that? Then I can use move it or send commands to joint, manually. Is that right?

Thank you in advance for your replies. Can anyone point me to a resouce, where I can read about the standard way of doing this? I have seen many tutorials in youtube where it starts with information about publisher and suscribers, and services and stuff like that. But I want to get grasp on, what is the standard way of simulating robots. Thank you in advance