Hi, I load motoros 1.8v of @ted-miller, I have executed [roslaunch](https://github.com/sinaiaranda-CIDESI/motoman_sda20d/blob/master/motoman_sda20d_moveit_config/launch/robot_interface_streaming_sda20d.launch) successfully. But now have other problem when launch demo (without joint state publisher) with the arm left, already that the joints is missing. [ERROR] [1527541542.427483218]: State monitor received invalid joint state (number of joint names does not match number of positions) [ERROR] [1527541542.559572523]: Robot state publisher received an invalid joint state vector [ERROR] [1527541542.652458005]: Robot state publisher received an invalid joint state vector [ WARN] [1527541542.682741048]: The complete state of the robot is not yet known. Missing arm_left_joint_1_s, arm_left_joint_2_l, arm_left_joint_3_e, arm_left_joint_4_u, arm_left_joint_5_r, arm_left_joint_6_b, arm_left_joint_7_t On rostopic echo /sda20d/sda20d_r1_controller/joint_states yes they are: header: seq: 54746 stamp: secs: 1527541767 nsecs: 419976021 frame_id: '' name: ['arm_left_joint_1_s', 'arm_left_joint_2_l', 'arm_left_joint_3_e', 'arm_left_joint_4_u', 'arm_left_joint_5_r', 'arm_left_joint_6_b', 'arm_left_joint_7_t'] position: [-0.24274393916130066, 0.8650458455085754, 0.09747595340013504, -0.3556790053844452, -0.25175508856773376, -0.11210209876298904, -0.2976524233818054] velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] effort: [] But difference on rostopic echo /joint_states the position is empty: header: seq: 178122 stamp: secs: 1527541902 nsecs: 769456976 frame_id: '' name: ['arm_left_joint_1_s', 'arm_left_joint_2_l', 'arm_left_joint_3_e', 'arm_left_joint_4_u', 'arm_left_joint_5_r', 'arm_left_joint_6_b', 'arm_left_joint_7_t'] position: [] velocity: [] effort: [] --- [Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/28) 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: