message: Fix joint state publishing.
diff: @@ -240,7 +240,7 @@ void FrankaStateController::publishJointStates(const ros::Time& time) {
  if (publisher_joint_states_.trylock()) {
  for (size_t i = 0; i < 7; ++i) {
  publisher_joint_states_.msg_.name[i] = joint_names_[i];
  - publisher_joint_states_.msg_.position[i] = robot_state_.q_d[i];
  + publisher_joint_states_.msg_.position[i] = robot_state_.q[i];
  publisher_joint_states_.msg_.velocity[i] = robot_state_.dq[i];
  publisher_joint_states_.msg_.effort[i] = robot_state_.tau_J[i];
  }
  