[ROS2] Difference between joint_states topic and dynamic_joint_states topic

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Hello everyone, as in title I would like to understand which is the difference in data between those two topics, both arising when I call the joint_state_broadcaster in ros2 control in ROS Galactic. I know there is a difference in the message type (sensor_msgs vs control_msgs) but I would like to understand a more conceptual difference between them. it seems they both publish the same data about position, velocity and effort of the joints. Thank you in advance for your answers!