text: import rclpy
  from rclpy.node import Node
  import time
  from trajectory_msgs.msg import JointTrajectory , JointTrajectoryPoint
  
  class MinimalPublisher(Node):
  
      def __init__(self):
          super().__init__('minimal_publisher')
          self.trajectory_publihser = self.create_publisher(JointTrajectory, '/joint_trajectory_controller/joint_trajectory'
          , 10)
          timer_period = 1  # seconds
          self.timer = self.create_timer(timer_period, self.timer_callback)
  
      def timer_callback(self):
          dual_armRjoints = ['joint_1,joint_2,joint_3,joint_4,joint_5,joint_8']
          goal_positions = [0.5,0.5,0.5,0.5,0.5,0.5]
                  ## creating a message to send Joint Trajectory type
          dual_armR_traj_msgs = JointTrajectory()
          dual_armR_traj_msgs.joint_names = dual_armRjoints
          dual_armR_traj_msgs.points.append(JointTrajectoryPoint())
          dual_armR_traj_msgs.points[0].positions = goal_positions
          dual_armR_traj_msgs.points[0].velocities = [0.0 for i in dual_armRjoints]
          dual_armR_traj_msgs.points[0].accelerations = [0.0 for i in dual_armRjoints]
          dual_armR_traj_msgs.points[0].time_from_start = time.sleep(2)
          time.sleep(1)
          self.trajectory_publihser.publish(dual_armR_traj_msgs)
  
  def main(args=None):
      rclpy.init(args=args)
  
      minimal_publisher = MinimalPublisher()
  
      rclpy.spin(minimal_publisher)
      minimal_publisher.destroy_node()
      rclpy.shutdown()
  
  
  if __name__ == '__main__':
      main()