diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.h b/ur_robot_driver/include/ur_robot_driver/hardware_interface.h
index aff9e09d7..3ae6d25a7 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.h
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.h
@@ -44,6 +44,7 @@
 #include <ur_msgs/ToolDataMsg.h>
 #include <ur_msgs/SetIO.h>
 #include <ur_msgs/SetSpeedSliderFraction.h>
+#include <sensor_msgs/Temperature.h>
 
 #include <ur_controllers/speed_scaling_interface.h>
 #include <ur_controllers/scaled_joint_command_interface.h>
@@ -177,6 +178,7 @@ class HardwareInterface : public hardware_interface::RobotHW
    */
   void publishPose();
 
+  void publishJointTemperatures(const ros::Time& timestamp);
   void publishIOData();
   void publishToolData();
   void publishRobotAndSafetyMode();
@@ -230,6 +232,7 @@ class HardwareInterface : public hardware_interface::RobotHW
   urcl::vector6d_t joint_positions_;
   urcl::vector6d_t joint_velocities_;
   urcl::vector6d_t joint_efforts_;
+  urcl::vector6d_t joint_temperatures_;
   urcl::vector6d_t fts_measurements_;
   urcl::vector6d_t tcp_pose_;
   std::bitset<18> actual_dig_out_bits_;
@@ -256,6 +259,8 @@ class HardwareInterface : public hardware_interface::RobotHW
   std::bitset<11> safety_status_bits_;
 
   std::unique_ptr<realtime_tools::RealtimePublisher<tf2_msgs::TFMessage>> tcp_pose_pub_;
+  typedef std::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::Temperature>> JTPublisherPtr;
+  std::vector<JTPublisherPtr> joint_temperature_pubs_;
   std::unique_ptr<realtime_tools::RealtimePublisher<ur_msgs::IOStates>> io_pub_;
   std::unique_ptr<realtime_tools::RealtimePublisher<ur_msgs::ToolDataMsg>> tool_data_pub_;
   std::unique_ptr<realtime_tools::RealtimePublisher<ur_dashboard_msgs::RobotMode>> robot_mode_pub_;
diff --git a/ur_robot_driver/resources/rtde_output_recipe.txt b/ur_robot_driver/resources/rtde_output_recipe.txt
index 8d10be849..a8e6fbe2f 100644
--- a/ur_robot_driver/resources/rtde_output_recipe.txt
+++ b/ur_robot_driver/resources/rtde_output_recipe.txt
@@ -1,6 +1,7 @@
 timestamp
 actual_q
 actual_qd
+joint_temperatures
 speed_scaling
 target_speed_fraction
 runtime_state
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index bb838387e..e05f87d75 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -55,6 +55,7 @@ HardwareInterface::HardwareInterface()
   , joint_positions_{ { 0, 0, 0, 0, 0, 0 } }
   , joint_velocities_{ { 0, 0, 0, 0, 0, 0 } }
   , joint_efforts_{ { 0, 0, 0, 0, 0, 0 } }
+  , joint_temperatures_{ { 0, 0, 0, 0, 0, 0 } }
   , standard_analog_input_{ { 0, 0 } }
   , standard_analog_output_{ { 0, 0 } }
   , joint_names_(6)
@@ -354,6 +355,12 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
   {
     io_pub_->msg_.analog_out_states[i].pin = i;
   }
+  for (size_t i = 0; i < joint_names_.size(); i++)
+  {
+    JTPublisherPtr joint_temperature_pub(new realtime_tools::RealtimePublisher<sensor_msgs::Temperature>(root_nh, "joint_temperatures/"+joint_names_[i], 1));
+    joint_temperature_pubs_.push_back(joint_temperature_pub);
+  }
+
   tool_data_pub_.reset(new realtime_tools::RealtimePublisher<ur_msgs::ToolDataMsg>(robot_hw_nh, "tool_data", 1));
 
   robot_mode_pub_.reset(
@@ -449,6 +456,7 @@ void HardwareInterface::read(const ros::Time& time, const ros::Duration& period)
     readData(data_pkg, "runtime_state", runtime_state_);
     readData(data_pkg, "actual_TCP_force", fts_measurements_);
     readData(data_pkg, "actual_TCP_pose", tcp_pose_);
+    readData(data_pkg, "joint_temperatures", joint_temperatures_);
     readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
     readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
     readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
@@ -478,6 +486,7 @@ void HardwareInterface::read(const ros::Time& time, const ros::Duration& period)
     extractToolPose(time);
     transformForceTorque();
     publishPose();
+    publishJointTemperatures(time);
     publishRobotAndSafetyMode();
 
     // pausing state follows runtime state when pausing
@@ -719,6 +728,24 @@ void HardwareInterface::publishPose()
   }
 }
 
+void HardwareInterface::publishJointTemperatures(const ros::Time& timestamp)
+{
+  for (size_t i = 0; i < joint_names_.size(); i++)
+  {
+    if (joint_temperature_pubs_[i])
+    {
+      if (joint_temperature_pubs_[i]->trylock())
+      {
+        joint_temperature_pubs_[i]->msg_.header.stamp = timestamp;
+        joint_temperature_pubs_[i]->msg_.header.frame_id = joint_names_[i];
+        joint_temperature_pubs_[i]->msg_.temperature = joint_temperatures_[i];
+
+        joint_temperature_pubs_[i]->unlockAndPublish();
+      }
+    }
+  }
+}
+
 void HardwareInterface::extractRobotStatus()
 {
   robot_status_resource_.mode =