I have cloned https://kforge.ros.org/robotmodel/visualization and modified joint_state_publisher so that it supports the velocity and effort components of the joint states. If the joint states published on topics in source_list contain velocities or efforts, my version of joint_state_publisher publishes those values along with the joint positions. How do I submit a patch to joint_state_publisher? Do I need to become a member of the Robot Model group on kforge.ros.org, then push the change to the repository?

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Jim Rothrock | Wunderkammer Laboratory | jim.rothrock@wunderkammerlab.com