I'm currently abroad on travels and cannot assist you directly. I'll take a look as soon as I can, which may be this weekend or next week.
To me it's unclear at the moment whether this is a configuration issue on the controller's side, or whether the ROS side is faulting.
What you could try for now is see whether [this pr](
https://github.com/ros-industrial/motoman/pull/179) improves things. If it does, I'll have a better idea of what is going on exactly. Note that the PR is slightly behind the state of `kinetic-devel`, but that shouldn't matter for what you'll be testing iirc.
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