How to add Joint Velocity Controller

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I am using Universal Robotics ROS for MoveiIt Servoing, However it is recommended to use JointGroupVelocityController or a JointGroupPositionController for MoveIt Servoing. I used the follwoing command to find out the available controllers

rosservice call /controller_manager/list_controllers

controller: 
  - 
    name: "joint_group_eff_controller"
    state: "initialized"
    type: "effort_controllers/JointGroupEffortController"
    claimed_resources: 
      - 
        hardware_interface: "hardware_interface::EffortJointInterface"
        resources: 
          - elbow_joint
          - shoulder_lift_joint
          - shoulder_pan_joint
          - wrist_1_joint
          - wrist_2_joint
          - wrist_3_joint
  - 
    name: "joint_state_controller"
    state: "running"
    type: "joint_state_controller/JointStateController"
    claimed_resources: 
      - 
        hardware_interface: "hardware_interface::JointStateInterface"
        resources: []
  - 
    name: "eff_joint_traj_controller"
    state: "running"
    type: "effort_controllers/JointTrajectoryController"
    claimed_resources: 
      - 
        hardware_interface: "hardware_interface::EffortJointInterface"
        resources: 
          - elbow_joint
          - shoulder_lift_joint
          - shoulder_pan_joint
          - wrist_1_joint
          - wrist_2_joint
          - wrist_3_joint

How can I add JointGroupVelocityController to the UR robot.