Implement, control real custom robot with moveit

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Hello, I have made/constructed my own robot with Dynamixel servo motors. This robot shall be controlled with "MoveIt! How does it work? how do I have to proceed, what tutorials do I have to watch?

The first step is that I create a "urdf" file of the robot. There are some tutorials of this. I would trust myself to create the "urdf" file easily and control the robot in MoveIt!( but it is only virtual).

The main question is: how do I connect the servos to MoveIt! What steps do I have to follow, how does something like this work?

Thanks a lot in advance.