diff --git a/examples/opc_ua/rapid-clock.rs b/examples/opc_ua/rapid-clock.rs
index 90a2cc4..d54c0c8 100644
--- a/examples/opc_ua/rapid-clock.rs
+++ b/examples/opc_ua/rapid-clock.rs
@@ -24,7 +24,7 @@ fn rapid_clock() {
 
 fn add_timed_variable(server: &mut Server, namespace: u16) {
     // These will be the node ids of the new variables
-    let ticks_since_launch_node_id = NodeId::new(namespace, "ticks_since_launch");
+    let ticks_since_launch_node_id = NodeId::new(namespace, "100111");
 
     let address_space = server.address_space();
 
@@ -39,9 +39,9 @@ fn add_timed_variable(server: &mut Server, namespace: u16) {
         let _ = address_space.add_variables(
             vec![Variable::new(
                 &ticks_since_launch_node_id,
-                "ticks_since_launch",
-                "ticks_since_launch",
-                0i32,
+                "joint_positions",
+                "joint_positions",
+                vec![0.0f64; 6],
             )],
             &rapid_folder_id,
         );
@@ -54,7 +54,7 @@ fn add_timed_variable(server: &mut Server, namespace: u16) {
             let ticks_in_100_ns = now.ticks();
             let _ = address_space.set_variable_value(
                 ticks_since_launch_node_id.clone(),
-                ticks_in_100_ns as i32,
+                vec![ticks_in_100_ns as f64; 6],
                 &now,
                 &now,
             );
diff --git a/src/main.rs b/src/main.rs
index 442408b..7d81c8c 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -31,9 +31,18 @@ fn main() -> Result<(), RclrsError> {
         let provider = Arc::clone(&joint_state_publisher);
         move |x: Variant| {
             println!("Value = {:?}", &x);
-            let data_value: f64 = x
-                .try_into()
-                .expect("This should have been encapsulated f64 but wasn't.");
+            let mut data_value: Vec<f64> = vec![];
+            match x {
+                Variant::Array(unwrapped) => {
+                    unwrapped.values.into_iter().for_each(|value| {
+                        let unpacked_value = value
+                            .as_f64()
+                            .expect("This should have been encapsulated f64 but wasn't.");
+                        data_value.push(unpacked_value)
+                    });
+                }
+                _ => panic!("Expected an array"),
+            };
             let j_msg = create_joint_state_msg(data_value);
             provider
                 .publish_data(&j_msg)
diff --git a/src/ros_publisher.rs b/src/ros_publisher.rs
index 746f0de..dbfe846 100644
--- a/src/ros_publisher.rs
+++ b/src/ros_publisher.rs
@@ -25,7 +25,7 @@ impl<T: RosMessage> RosPublisher<T> {
     }
 }
 
-pub fn create_joint_state_msg(data: f64) -> JointStateMsg {
+pub fn create_joint_state_msg(data: Vec<f64>) -> JointStateMsg {
     let system_timestamp = SystemTime::now().duration_since(UNIX_EPOCH).unwrap();
     // Workaround for https://github.com/ros2-rust/ros2_rust/issues/385
     let time_msgs = TimeMsg {
@@ -39,9 +39,9 @@ pub fn create_joint_state_msg(data: f64) -> JointStateMsg {
             frame_id: "0".to_string(),
         },
         name: vec!["Test Joint States".to_string()],
-        position: vec![data, 3.0],
-        velocity: vec![2.0, 3.3],
-        effort: vec![],
+        position: data,
+        velocity: vec![0.0; 6],
+        effort: vec![0.0; 6],
     };
     joint_state_msg
 }
diff --git a/tests/helpers/opc_ua_publisher_single_linear.rs b/tests/helpers/opc_ua_publisher_single_linear.rs
index 15e0762..0d6fa80 100644
--- a/tests/helpers/opc_ua_publisher_single_linear.rs
+++ b/tests/helpers/opc_ua_publisher_single_linear.rs
@@ -38,9 +38,9 @@ fn add_timed_variable(server: &mut Server, namespace: u16) {
         let _ = address_space.add_variables(
             vec![Variable::new(
                 &ticks_since_launch_node_id,
-                "ticks_since_launch",
-                "ticks_since_launch",
-                0i32,
+                "joint_positions",
+                "joint_positions",
+                vec![0.0f64; 6],
             )],
             &rapid_folder_id,
         );
@@ -53,7 +53,7 @@ fn add_timed_variable(server: &mut Server, namespace: u16) {
             let ticks_in_100_ns = now.ticks();
             let _ = address_space.set_variable_value(
                 ticks_since_launch_node_id.clone(),
-                ticks_in_100_ns as i32,
+                vec![ticks_in_100_ns as f64; 6],
                 &now,
                 &now,
             );
diff --git a/tests/test_simple_opc_ua_subscriber.rs b/tests/test_simple_opc_ua_subscriber.rs
index 24e278d..c316489 100644
--- a/tests/test_simple_opc_ua_subscriber.rs
+++ b/tests/test_simple_opc_ua_subscriber.rs
@@ -40,7 +40,7 @@ async fn test_simple_subscriber_receives_data_changes() {
             .expect("Failed to read line from client")
         {
             println!("Subscriber stdout: {}", line);
-            if line.contains("Value = Int32(") {
+            if line.contains("Value = Array(Array { value_type: Double") {
                 found_ticks_since_launch_changed_times += 1;
                 if found_ticks_since_launch_changed_times == expected_changed_times {
                     return found_ticks_since_launch_changed_times;