diff --git a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp
index 9638c020ae3f296ed139e050c086544df29ceaa6..a2825105875a0e72454972692a388f0cd8721f62 100644
--- a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp
@@ -31,3 +31,8 @@ ControlDevice& JointController::getParent() const
     ARMARX_CHECK_EXPRESSION_W_HINT(parent, "This JointController is not owned by a ControlDevice");
     return *parent;
 }
+
+StringVariantBaseMap JointController::publish(const DebugDrawerInterfacePrx& draw, const DebugObserverInterfacePrx& observer) const
+{
+    return StringVariantBaseMap {};
+}
diff --git a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
index 4d12be87a3b3a9fb92b7abdf7f4fdb8f5cfc3158..a82cc1c95055a28c047afdfa10d9947fa7a843fd 100644
--- a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
@@ -28,6 +28,8 @@
 #include <memory>
 #include <atomic>
 
+#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+
 namespace armarx
 {
     class ControlDevice;
@@ -67,6 +69,19 @@ namespace armarx
         std::size_t rtGetHardwareControlModeHash() const;
 
         ControlDevice& getParent() const;
+        
+        /**
+         * Hook for publishing data from JointController, mainly for debugging purposes. The preferred way is to use the
+         * return value of the function to publish the data. This function is called in the publish thread, **not** the RT thread.
+         * Thus, appropriate lock-free synchronization (e.g. atomic variables or TrippleBuffer) must be used to move the data from RT
+         * thread to the publish thread.
+         * @param draw Interface proxy to the DebugDrawer topic.
+         * @param observer Interface proxy to DebugObserver topic.
+         * @return These values are published on the RobotUnitObserver in the channel "ControlDevices". The keys of the map are prepended
+         * with "{ControlDeviceName}_{ControlModeName}_" and are used as keys of the datafields.
+         * 
+         */ 
+        virtual StringVariantBaseMap publish(const DebugDrawerInterfacePrx& draw, const DebugObserverInterfacePrx& observer) const;
 
     protected:
         ControlDevice& rtGetParent() const;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index 7a8044b855889409a577ee467d8e0d4f761aff6a..a895019046916bfd13d613214c5c80adc20c4e2a 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
@@ -238,6 +238,14 @@ namespace armarx
                 const auto activeJointCtrl = activatedControllers.jointControllers.at(ctrlidx);
                 status.activeControlMode = activeJointCtrl ? activeJointCtrl->getControlMode() : std::string {"!!JointController is nullptr!!"};
                 status.deviceName = ctrlDev.getDeviceName();
+                if (activeJointCtrl)
+                {
+                    auto additionalDatafields = activeJointCtrl->publish(debugDrawerPrx, debugObserverPrx);
+                    for (auto& pair : additionalDatafields)
+                    {
+                        ctrlDevMap[ctrlDev.getDeviceName() + "_" + activeJointCtrl->getControlMode() + "_" + pair.first] = pair.second;
+                    }
+                }
 
                 for (const auto& ctrlVal : controlThreadOutputBuffer.control.at(ctrlidx))
                 {