In regard to the garbage joint velocities, I found this in the reference manual: "Since the area specified by the parameter is not initialized (0 clear) by this API, initialize the area by the application as necessary." So, I just need to clear the data before calling the API. I will fix this in the next commit. --- [Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/38) 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: