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)
