gazebo set joint angles by ROS

Hi everyone! I have a robot arm model in Gazebo with several "revolute" joints. I simply want to set the angles of the joints by a ROS service, topic or whatever WITHOUT any closed-loop controller. Just enter an angle and the robot jumps to that position. Is that possible? Background: I have a real robot arm, from which I can read the joint angles. These angles should be sent to Gazebo, where the simulated arm follows the movement of the real arm. In the simulation I want to recreate a special environment with several sensors for the robot arm to test my ROS nodes.