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This is only vertified on Motoman SDA5F.\r\n\r\nBefore this fix the state of the robot changed at \"LOST\"(with error code: Transitioning goal to LOST) after some seconds and the trajectory was aborted.\r\nThis issue was discussed in [mail-lists](https://groups.google.com/forum/#!topic/swri-ros-pkg-dev/svtmTaMwqx0) and PR #79 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