If 0 (zero) was invited by Aryabhata than how did people knew that in Ramayana Ravana had 10......

10 head and in Mahabharat there were 100 Kaurav (कौरव)?

As far as I know, the concept of shunya, Zero and infinity was always there in our vedic scriptures. Rig veda and Atharva veda has concept of shunya in it. The Ishavashya upanishad verse - Purnamadah purnamidam gives us infinity. I think Aryabhata and BrahmaGupta gave a mathematical and digital placeholder concept to it (0). You can explore more by googling or by going through some scriptural reference.