use RQT to control revolute2 joint

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Hi all, I got some problems when using rqt to control my joints. I want to use rqt to control the omniwheels which i defined four wheels with 4 revolute2 joint types. Revolute2 joint type has two axis that can rotate, it is not supported in URDF file but i reference all the wheels use gazebo tag, and it is working, can someone give me suggestions about how to control the two rotate axises? I think publish the joint_states as sensor_msgs/MultiDOFJointState might be helpful, but i don't know how to use it in details. and after that what should i do?

Thanks in advance!