diff --git a/control_msgs/msg/JointTrajectoryControllerState.msg b/control_msgs/msg/JointTrajectoryControllerState.msg
index 46ae937e..8ae7c791 100644
--- a/control_msgs/msg/JointTrajectoryControllerState.msg
+++ b/control_msgs/msg/JointTrajectoryControllerState.msg
@@ -1,5 +1,11 @@
 std_msgs/Header header
+
 string[] joint_names
 trajectory_msgs/JointTrajectoryPoint desired
 trajectory_msgs/JointTrajectoryPoint actual
 trajectory_msgs/JointTrajectoryPoint error  # Redundant, but useful
+
+string[] multi_dof_joint_names
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_desired
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_actual
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error  # Redundant, but useful