Controllers for Robot in Webots using MoveIT and ROS

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I created a robot for Webots which im trying to control using MoveIT via ROS. For that I created a python-node, based on the webots_ros package, which reads the joint-state-publisher and sets the joint positions in Webots.

My Problem is that I’m not able to publish the simulation results of each timestep back to MoveIT (or it’s move-group).

Is there something similar to the controllers which are normally used in ROS if MoveIT controls a robot which is simulated in Gazebo? Or is there an other approach?

Plattform: Ubuntu 18.04 LTS, ROS Version: ROS Melodic, Webots: Webots 2021b