The node currently publishes the configured maximum velocity, instead of the joints' actual current speeds. This means that when stationary the velocity is non-zero, which results in errors with nodes that subscribe to the robot_state_publisher. Easiest symptom to see is "twitching" of the model in rviz.
Since the underlying driver does not appear to support querying the actual current speed of the joints, simply omit the velocity (which is optional anyway) and publish the position only.
The node currently publishes the configured maximum velocity, instead of the joints' actual current speeds. This means that when stationary the velocity is non-zero, which results in errors with nodes that subscribe to the robot_state_publisher. Easiest symptom to see is "twitching" of the model in rviz.
Since the underlying driver does not appear to support querying the actual current speed of the joints, simply omit the velocity (which is optional anyway) and publish the position only.