ROS Joint State with velocity and position control

I have understood in the forum that in ROS JointState, when controlling velocity, I must not send a position command.
What should we do if our robot has multiple PhysicsRovolutes and velocity and position control are mixed?

I thought I needed to create multiple ROS JointStates separately, but it didn’t work.
Also, I thought I needed to create multiple “Articulation Roots”, but I couldn’t do that either.