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.
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