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Publish Joint position step by step

Greetings, I need an advice about how to perform my robot simulation. I have a node that subscribe a topic and use the data subscribed to create a vector with all the angle that a joint has to reach through the final joint angle. I have three different joints, which is the best message to publish that contains the three joint angles? How can I publish them step by step. How can I make the second node that subscribe these joint angles?

Thank you