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First your code is missing something to read the csv and fill the joint_state properly.

When you have done that there are two ways to create the appropriate transformations:

1. Write a program that receives those joint states you send out and publishes the correct transformations.
2. Create a URDF description of your robot and use a robot_state_publisher. The robot_state_publisher takes the robot description and the current joint states and publishes correct transformations from that.