Hello,

First of all, I'd like to thank you for publishing this, it's been very useful.

I'm interested in transmitting ROS messages typed sensor_msgs/JointStates to a broker outside of the ROS environment. As is, my MQTT subscriber, outside of the ROS environments, receives mostly gibberish. I presume this is because primitives messages do not support messages typed sensor_msgs. Are there any plans to support these?