diff --git a/setup.py b/setup.py
index 23b61bc..5057e7f 100644
--- a/setup.py
+++ b/setup.py
@@ -19,6 +19,7 @@
     license='Apache-2.0',
     entry_points={
         'console_scripts': [
+            'joint_states_relay = sr_ros2_python_utils.js_publisher:main'
         ],
     },
 )
diff --git a/sr_ros2_python_utils/js_publisher.py b/sr_ros2_python_utils/js_publisher.py
new file mode 100755
index 0000000..a12d3ea
--- /dev/null
+++ b/sr_ros2_python_utils/js_publisher.py
@@ -0,0 +1,27 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+
+class JointStatesRelay(Node):
+    def __init__(self):
+        super().__init__('joint_states_relay')
+        self.subscription = self.create_subscription(
+            JointState,
+            '/ros1_joint_states',
+            self.joint_states_callback,
+            10
+        )
+        self.publisher = self.create_publisher(JointState, '/joint_states', 10)
+
+    def joint_states_callback(self, msg):
+        self.publisher.publish(msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = JointStatesRelay()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
diff --git a/sr_ros2_python_utils/transforms.py b/sr_ros2_python_utils/transforms.py
index a9ebdc6..f46a968 100644
--- a/sr_ros2_python_utils/transforms.py
+++ b/sr_ros2_python_utils/transforms.py
@@ -113,7 +113,7 @@ def _quaternion_multiply(q0:ArrayLike, q1:ArrayLike) -> ArrayLike:
 
 
 class TCPTransforms:
-    def __init__(self, node:Node, tcp_link_name:str='tcp_link', tool_link_name:str='tcp_gripper') -> None:
+    def __init__(self, node:Node, tcp_link_name:str='tcp_link', tool_link_name:str='tcp_link') -> None:
         """
         TCP transformation helper class