confusing joint_state_broadcaster warning

[christianrauch]

Describe the bug
I have a simple JointStateBroadcaster configuration:

controller_manager:
  ros__parameters:
    rotor_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
      
rotor_state_broadcaster:
  ros__parameters:
    joints: [rotor/1, rotor/2, rotor/3, rotor/4]
    interfaces: [velocity]

to broadcast the interfaces rotor/1/velocity, etc., on topic /joint_states. This works, and I am getting the values in the velocity field of sensor_msgs/msg/JointState on /joint_states.

However, the rotor_state_broadcaster node is throwing this confusing warning:

Mapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.

What does it mean that this mapping will not be done? Obviously, the velocity interfaces are correctly mapped to the velocity field of sensor_msgs/msg/JointState.

What settings do I have to change to inhibit this warning?

To Reproduce
Steps to reproduce the behavior:

1. define and configure a joint_state_broadcaster/JointStateBroadcaster controller as shown above
2. launch and observe error message

Expected behavior
As this behaves as expected, no warning should be shown. If this is actually not behaving as expected, the warning message should state the error properly.

Screenshots
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Environment (please complete the following information):

• OS: Ubuntu
• Version jazzy

Additional context
Add any other context about the problem here, especially include any modifications to ros2_control that relate to this issue.