The monitor output looks good. For the wireshark capture, can you please zip the pcapng file and attach it? I am unable to filter and read the raw printed data. For the INIT_ROS job, I added special jobs for DX100 SDA in my latest commit. https://github.com/ros-industrial/motoman/pull/213/commits/df1256dc6dfd17e518f396cc7aba0517c44c8a62 Please use the jobs in the folder "two_arms_with_base". Based on your post, I am assuming that your waist axis is configured as a "station" instead of a "base". I don't know if this will work or not. My testing was done using a base-axis. You may need to reconfigure that axis. If you need help with that, please contact Yaskawa Motoman Tech Support and they can provide detailed instructions for your robot. @gavanderhoorn, do you have any advice about the latest error? Assuming that the robot is indeed reporting the joint states, then I'm not sure what the ROS error messages mean. --- [Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/31) 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: