Hi, I configured the waist axis to "base" and I loaded the jobs to robot. The problem persists, this is the [wireshark file](https://github.com/sinaiaranda-CIDESI/motoman_sda20d/blob/master/motoman_sda20d_wireshark.pcapng.zip). Also, I try to monitoring the joint states of real robot in rviz (demo.launch) but now just R2 is correct. [ INFO] [1528141714.315548270]: all_joint_state.positions: 0 == all_joint_names: 7 [ INFO] [1528141714.315751159]: all_joint_state.positions: 1 == all_joint_names: 1 [ INFO] [1528141714.315910410]: all_joint_state.positions: 7 == all_joint_names: 7 [ERROR] [1528141487.782130639]: State monitor received invalid joint state (number of joint names does not match number of positions) [ERROR] [1528141487.813911850]: Robot state publisher received an invalid joint state vector --- [Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/33) 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: