Hi,

I found the message definition sensormsgs/MultiDOFJointState and was expecting robotstate_publisher to also support it:

https://github.com/ros/common_msgs/blob/jade-devel/sensor_msgs/msg/MultiDOFJointState.msg

What I had in mind was that the node would populate TF with the current transforms taking the respective frame_ids from the URDF. When searching the repository, however, I could not find any usage of this message definition:

https://github.com/ros/robot_state_publisher/blob/kinetic-devel/include/robot_state_publisher/joint_state_listener.h

Do I see this correctly that robotstatepublisher does not support this message definition?

If not,

1. is there an established good practice of using multi-DOF joints with robotstatepublisher?
2. is there a good reason that speaks against adding support for sensormsgs/MultiDOFJointState to robotstate_publisher?

Best, Georg.