For system wide installed apps, desktop launcher files are installed in a specific location, /usr/share/applications
for applications installed using the APT package management system. Launcher files are small text files with the .desktop
extension, that provide information to the desktop environment about the application (how to run it, what icon to use, etc.). These launchers are automatically read to build the application menu.
For installations you perform manually, i.e., applications you install under your home folder, you need to install such launcher files yourself under your local .local/share/applications
folder. Launchers you put there will appear in the application menu for your user only.
Thus, find or create yourself application launcher files and place them in that folder. These files may or may not have come with your application.