def msg_callback_left_finger(self, msg): out_msg = JointState() out_msg.header = msg.header out_msg.goal_pos = msg.set_point out_msg.current_pos = msg.process_value out_msg.error = msg.error #we still need to obtain the speed information about the joint... #motor IDs are filled according to a joint of the arm out_msg.motor_ids.append(8) #other stuff that is not known out_msg.load=0 out_msg.is_moving=0 # we should obtain this information somehow out_msg.motor_temps.append(0) self.pub_left_finger.publish(out_msg)