[ros-users] [Discourse.ros.org] [ROS-Industrial] Using the Motoman SDA20D Dual-arms DX100 ROS Interface(Indigo)

[Sinaí Aranda]

Hi, I load motoros 1.8v of @ted-miller,  I have executed [roslaunch](https://github.com/sinaiaranda-CIDESI/motoman_sda20d/blob/master/motoman_sda20d_moveit_config/launch/robot_interface_streaming_sda20d.launch) successfully. But now have other problem when launch demo (without joint state publisher) with the arm left, already that the joints is missing.

[ERROR] [1527541542.427483218]: State monitor received invalid joint state (number of joint names does not match number of positions)
[ERROR] [1527541542.559572523]: Robot state publisher received an invalid joint state vector
[ERROR] [1527541542.652458005]: Robot state publisher received an invalid joint state vector
[ WARN] [1527541542.682741048]: The complete state of the robot is not yet known.  Missing arm_left_joint_1_s, arm_left_joint_2_l, arm_left_joint_3_e, arm_left_joint_4_u, arm_left_joint_5_r, arm_left_joint_6_b, arm_left_joint_7_t

On rostopic echo /sda20d/sda20d_r1_controller/joint_states yes they are:

header: 
  seq: 54746
  stamp: 
    secs: 1527541767
    nsecs: 419976021
  frame_id: ''
name: ['arm_left_joint_1_s', 'arm_left_joint_2_l', 'arm_left_joint_3_e', 'arm_left_joint_4_u', 'arm_left_joint_5_r', 'arm_left_joint_6_b', 'arm_left_joint_7_t']
position: [-0.24274393916130066, 0.8650458455085754, 0.09747595340013504, -0.3556790053844452, -0.25175508856773376, -0.11210209876298904, -0.2976524233818054]
velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
effort: []

But difference on rostopic echo /joint_states the position is empty:

header: 
  seq: 178122
  stamp: 
    secs: 1527541902
    nsecs: 769456976
  frame_id: ''
name: ['arm_left_joint_1_s', 'arm_left_joint_2_l', 'arm_left_joint_3_e', 'arm_left_joint_4_u', 'arm_left_joint_5_r', 'arm_left_joint_6_b', 'arm_left_joint_7_t']
position: []
velocity: []
effort: []





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