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
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