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My goal is to subsribe to the topic "joint_states" which, as I so far understood, is often used for sending actual robot positions [..]

Not as far as I know: the sensor_msgs/JointStates message is used to store the state of a set of joints at a certain time, as a piece of sensor information -- actual state. It is not normally used to encode desired or commanded state. Server implementations using the protocol -- running on robot controllers -- typically periodically send out JOINT_POSITION Simple Message messages, that the industrial_robot_client deserialises and republishes as sensor_msgs/JointStates.

As such, there is currently no support in simple_message for "Convert[ing] 'joint_states' to 'JointMessage' which is part of the 'simple_message' Package and send it".

Do you have a particular reason for wanting to send over sensor_msgs/JointStates messages, instead of letting the industrial_robot_client proxy between JointTrajectory and JOINT_TRAJ_PT or similar messages?

[..] send this data via the simple_message Protocol using TCP/IP to my robot controller. My goal is to subsribe to the topic "joint_states" which, as I so far understood, is often used for sending actual robot positions [..]

Not as far as I know: the sensor_msgs/JointStates message is used to store the state of a set of joints at a certain time, as a piece of sensor information -- actual state. It is not normally used to encode desired or commanded state. Server implementations using the protocol -- running on robot controllers -- typically periodically send out JOINT_POSITION Simple Message messages, that the industrial_robot_client deserialises and republishes as sensor_msgs/JointStates.

As such, there is currently no support in simple_message for "Convert[ing] 'joint_states' to 'JointMessage' which is part of the 'simple_message' Package and send it".

Do you have a particular reason for wanting to send over sensor_msgs/JointStates messages, instead of letting the industrial_robot_client proxy between JointTrajectory and JOINT_TRAJ_PT or similar messages?