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The topic you're subscribing to (ie: /myfirstrobot/joint2_position_controller/state) is not a topic that carries sensor_msgs/JointState messages, but control_msgs/JointControllerState.
Those are two different messages and you cannot subscribe to a topic with control_msgs/JointControllerState messages with a subscriber that expects sensor_msgs/JointState.
HI, I use
sensor_msgs/JointStatein python to subscribes information about what the current joint values are
The state topic does not have messages that "current joint values", but the internal state of a ros_control joint controller.
The typical topic for joint states would be joint_states, and is typically published by drivers, not by controllers.
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