Got this to work with ROS2 Humble Moveit 2 #85
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Should work with MoveitConfigsBuilder
works with kinematics parameters stored in move_group/manipulator.opw_kin... and move_group/robot_description_kinematics.manipulator.opw_kin...
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I know that this implementation is probably not the best, but I needed it to work.
Looking for help cleaning this up if anyone is interested.
I had to change the folder structure because I couldn't get the plugin to work properly.
Either way, I am able to use this as is for now, hope that someone else can also use it.