I'm running ROS Melodic, on Ubuntu 18.04.

We got the right arm working with PID and tried transfering their gains to the left arm to test but we're getting an error message when we launch Go to Position. When we give it inputs, it moved the right arm instead of the left. I have looked through Gazebo Setup, UDRF, Controllers, ROS launch and a few others.

ROS Empty Launch:

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
    <param name="publish_frequency" type="double" value="30.0"/>
</node>

UDRF: transmissioninterface/SimpleTransmission 2000 EffortJointInterface hardwareinterface/EffortJointInterface

transmissioninterface/SimpleTransmission 2000 EffortJointInterface hardwareinterface/EffortJointInterface

transmissioninterface/SimpleTransmission 2000 EffortJointInterface hardwareinterface/EffortJointInterface

transmissioninterface/SimpleTransmission 2000 EffortJointInterface hardwareinterface/EffortJointInterface

transmissioninterface/SimpleTransmission 2000 EffortJointInterface hardwareinterface/EffortJointInterface

transmissioninterface/SimpleTransmission 2000 EffortJointInterface hardwareinterface/EffortJointInterface

transmissioninterface/SimpleTransmission 378 EffortJointInterface hardwareinterface/EffortJointInterface

transmissioninterface/SimpleTransmission 378 EffortJointInterface hardwareinterface/EffortJointInterface

<joint name="JointLeftShoulderPan" type="revolute">
    <parent link="left_arm1_link"/>
    <child link="left_arm2_link"/>
    <origin xyz="0 0 -0.007"/>
<axis xyz="0 0 1"/>
    <limit effort="1.0" lower="-1.5708" upper="1" velocity="0.5"/>
</joint>

<joint name="JointLeftShoulderTilt" type="revolute">
    <parent link="left_arm2_link"/>
    <child link="left_arm3_link"/>
    <origin xyz="0.139238 0 0"/>
<axis xyz="0 1 0"/>
    <limit effort="1.0" lower="-1.5708" upper="1.5708" velocity="0.5"/>
</joint>

<joint name="JointLeftUpperArmRoll" type="revolute">
    <parent link="left_arm3_link"/>
    <child link="left_arm4_link"/>
    <origin xyz="0.238827 0 0"/>
<axis xyz="1 0 0"/>
    <limit effort="1.0" lower="-3.1415" upper="3.1415" velocity="0.5"/>
</joint>

<joint name="JointLeftElbowFlex" type="revolute">
    <parent link="left_arm4_link"/>
    <child link="left_arm5_link"/>
    <origin xyz="0.145 0 0"/>
<axis xyz="0 1 0"/>
    <limit effort="1.0" lower="-1.75" upper="1.75" velocity="0.5"/>
</joint>

<joint name="JointLeftForearmRoll" type="revolute">
    <parent link="left_arm5_link"/>
    <child link="left_arm6_link"/>
    <origin xyz="0.230643 0 0"/>
<axis xyz="1 0 0"/>
    <limit effort="1.0" lower="-3.1415" upper="3.1415" velocity="0.5"/>
</joint>

<joint name="JointLeftWristFlex" type="revolute">
    <parent link="left_arm6_link"/>
    <child link="left_arm7_link"/>
    <origin xyz="0.165 0 0"/>
<axis xyz="0 1 0"/>
    <limit effort="1.0" lower="-1.75" upper="1.75" velocity="0.5"/>
</joint>

<joint name="JointLeftWristRoll" type="revolute">
    <parent link="left_arm7_link"/>
    <child link="left_arm8_link"/>
    <origin xyz="0.045311 0 0"/>
<axis xyz="1 0 0"/>
    <limit effort="1.0" lower="-2" upper="2" velocity="0.5"/>
</joint>

<joint name="left_arm8_to_left_gripper1" type="fixed">
    <parent link="left_arm8_link"/>
    <child link="left_gripper1_link"/>
    <origin xyz="0.04619 0 0"/>
</joint>

<joint name="JointLeftGripper" type="revolute">
    <parent link="left_gripper1_link"/>
    <child link="left_gripper2_link"/>
    <origin rpy="0 0 -1.5708" xyz="0.024 -0.014 0"/>
<axis xyz="0 0 1"/>
    <limit effort="1.0" lower="0" upper="1.5708" velocity="0.5"/>
</joint>

<joint name="left_gripper1_to_left_gripper3" type="revolute">
    <parent link="left_gripper1_link"/>
    <child link="left_gripper3_link"/>
    <mimic joint="JointLeftGripper" multiplier="-1" offset="0"/>
    <origin rpy="0 0 1.5708" xyz="0.024 0.014 0"/>
<axis xyz="0 0 1"/>
    <limit effort="1.0" lower="-3.1415" upper="3.1415" velocity="0.5"/>
</joint>

<joint name="left_gripper1_to_left_gripper4l" type="revolute">
    <parent link="left_gripper1_link"/>
    <child link="left_gripper4l_link"/>
    <origin rpy="0 0 -1.5708" xyz="0.044 0.007 0"/>
    <mimic joint="JointLeftGripper" multiplier="-1" offset="0"/>
<axis xyz="0 0 1"/>
    <limit effort="1.0" lower="-3.1415" upper="3.1415" velocity="0.5"/>
</joint>

<joint name="left_gripper1_to_left_gripper4r" type="revolute">
    <parent link="left_gripper1_link"/>
    <child link="left_gripper4r_link"/>
    <origin rpy="0 0 1.5708" xyz="0.044 -0.007 0"/>
    <mimic joint="JointLeftGripper" multiplier="1" offset="0"/>
<axis xyz="0 0 1"/>
    <limit effort="1.0" lower="-3.1415" upper="3.1415" velocity="0.5"/>
</joint>

<joint name="left_gripper2_to_left_gripper6" type="revolute">
    <parent link="left_gripper2_link"/>
    <child link="left_gripper6_link"/>
    <origin xyz="0.040 0 0"/>
    <mimic joint="JointLeftGripper" multiplier="-1" offset="0"/>
<axis xyz="0 0 1"/>
    <limit effort="1.0" lower="-3.1415" upper="3.1415" velocity="0.5"/>
</joint>

<joint name="left_gripper3_to_left_gripper5" type="revolute">
    <parent link="left_gripper3_link"/>
    <child link="left_gripper5_link"/>
    <origin xyz="0.040 0 0"/>
    <mimic joint="JointLeftGripper" multiplier="1" offset="0"/>
<axis xyz="0 0 1"/>
    <limit effort="1.0" lower="-3.1415" upper="3.1415" velocity="0.5"/>
</joint>

<joint name="body_to_neck_base" type="fixed">
    <parent link="body_link"/>
    <child link="neck_base_link"/>
    <origin xyz="0 -0.017 0.365"/>
</joint>

<joint name="neck_base_to_neck" type="revolute">
    <parent link="neck_base_link"/>
    <child link="neck_link"/>
    <origin xyz="0 0 0.035"/>
<axis xyz="0 0 1"/>
    <limit effort="1.0" lower="-3.1415" upper="3.1415" velocity="0.5"/>
</joint>

<joint name="neck_to_head" type="revolute">
    <parent link="neck_link"/>
    <child link="head_link"/>
    <origin xyz="0 0.090789 0.09"/>
<axis xyz="1 0 0"/>
    <limit effort="1.0" lower="-0.9" upper="0.4" velocity="0.5"/>
</joint>

Thanks, Slate Robots Team.