Controlling Gazebo simulated robot from moveit (c++)

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Hello all, I have written a [c++ code] (http://wiki.ros.org/Robots/TIAGo/Tuto...) 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 tutorial. My main question is:

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??

Are there any tutorials which explain this??

Any kind of help is appreciated. Thanks in advance.