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Thank you Martin.
I figured out the problem. I was publishing two different joint state messages - one for my 7 dof manipulator and one for my pan/tilt camera mount. What was happening is about half the time the move_arm functions were receiving the correct 7 dof joint states and the other half the time received the 2 dof pan/tilt joint states. All joint states must be published in the same message.
The reason I used two different messages is that the pan/tilt mechanism was controlled using ptz-gazebo plugin and the 7 dof arm uses robot_mechanism_controller. I think the best thing to do is change the pt2-gazebo plugin to another robot_mechanism_controller.
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