Ok, I changed to base and I used motoman_driver package of kinetic-devel, the error is the same (all_joint_state.positions: 0 == all_joint_names: 7). @ted-miller these are the system [files](https://github.com/sinaiaranda-CIDESI/motoman_sda20d_sys) of the robot. I did not have support for the configuration to 'base' through of Yaskawa Mexico, but yes they help me with alarms that the robot showed. I dont' have the correct values, for this reason the system can have limits in the joint base. From teach pendant, I can move the base, but in the /joint states just in -3.018 to 3.018 although this completely tour. --- [Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/42) 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: