How can I control Joint with multi-axis

edit

Maybe I just found a solution but I didn't test it with revolute2 joint yet.

The solution is to use message named joint_cmd.

As you can see below, I could specify the axis of joint with set_axis() method in msgs::JointCmd class.

           msgs::JointCmd stMsgJointCmd;
    msgs::PID stMsgPID;

    std::string strWheelName = "robot::lwheel_joint";
    stMsgJointCmd.set_axis(0);
    stMsgJointCmd.set_allocated_name(&strWheelName);
    stMsgPID.set_target(100.0);
    stMsgJointCmd.set_allocated_velocity(&stMsgPID);
    m_poJointCmdPub->Publish(stMsgJointCmd);
    stMsgJointCmd.release_name();
    stMsgJointCmd.release_velocity();

I think PID controller for each axes could be specified too, but couldn't confirm it.