Just one important thing regarding [motoman/#91](
https://github.com/ros-industrial/motoman/issues/91) (>1 but <4 groups): see my quickfix [here](
https://github.com/Xamla/motoman/blob/0545306f5746b197b1f18fc045cf9daff377f53b/motoman_driver/src/simple_message/joint_feedback_ex.cpp#L124-L125).
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