I am currently running ROS Noetic with MoveIt on Ubuntu 20.04.

I have been working to integrate a custom 6DOF robotic arm with MoveIt and have gotten a bit stuck at the part where I control the real physical arm. I currently have an interface in place where I can send positions with a sensor_msgs/JointState topic and have the arm move to them in closed loop.

So far with MoveIt, I have been able to create a URDF of my arm and build a MoveIt package for it. I am now a bit confused about where to go from here. It seems that I need to create a FollowJointTrajectory action server for MoveIt to communicate with. Is there a way that I can go about this without writing my own custom action server? Am I able to set up the jointtrajectorycontroller package to do this for me? I am confused about what my path forward is and have found so many tutorials and such online that have only served to confuse me on this topic. Given my situation, specifically being that I already have a hardware interface set up in the form of this JointState interface, what is the simplest solution to sending trajectories from MoveIt to my real arm?