I'm wondering whether there is some misconfiguration / misunderstanding here. @ted-miller: afaik, all SDAx robots have 4 groups, with groups 2 & 3 controlling the two torso joints, correct? How is this configured on the DX100? In the screenshot provided by @Sinai_Aranda, it looks like only 3 `AddToIncQueue` tasks are created. This strikes me as odd. --- Edit: @Sinai_Aranda: could you test with group nr 3 (so the [fourth entry](https://github.com/sinaiaranda-CIDESI/motoman_sda20d/blob/94fbcc01efddae3a7a892e4cf642fa6ed63ffec4/motoman_sda20d_support/config/sda20d_motion_interface.yaml#L14-L17)) removed from your `sda20d_motion_interface.yaml` A wireshark capture of some traffic would also help. --- [Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/10) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: