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There is a message called JointMessage under common_msgs/sensor_msgs. It is defined as follows:

Header header

string[] name
float64[] position
float64[] velocity
float64[] effort

I'm unclear as to what name means but the other parameters are defined as:

# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).

There is a message called JointMessage under common_msgs/sensor_msgs. It is defined as follows:

Header header

string[] name
float64[] position
float64[] velocity
float64[] effort

I'm unclear as to what name means but the other parameters are defined as:

# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).