move_arm: occasional problems with trajectory filter

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Hello,

I am currently working on using move_arm (and associated packages) with our 7 dof manipulator. I am using diamondback. I used pr2_arm_navigation as a template and have generated all the appropriate config/launch files. The problem is when send a move_arm_joint_goal often I get an error from the trajectory_filter_server:

ERROR: Joint name r_base_RollJoint not found in raw joint state message

ERROR: Filter chain failed to process trajectory

ERROR: Service call to filter trajectory failed.

This happens quite often, about half the time, but when it doesn't happen the goal is reached. I am not sure why trajectory_filter_server is not finding this joint in the raw joint state message only sometimes. Any advice is greatly appreciated.

Other information:

trajectory_filter_server launch:

<launch> 
    <node pkg="trajectory_filter_server" name="trajectory_filter" type="trajectory_filter_server" output="screen">

        <rosparam command="load" file="$(find TRACBot_arm_navigation)/config/joint_limits.yaml"/>
        <rosparam command="load" file="$(find TRACBot_arm_navigation)/config/filters.yaml"/>

    <remap from="robot_description" to="robot_description" />
    <remap from="collision_map" to="collision_map_occ" />
    <remap from="collision_map_update" to="collision_map_occ_update" />    
    <param name="refresh_interval_collision_map" type="double" value="5.0" />
    <param name="refresh_interval_kinematic_state" type="double" value="1.0" />
    <param name="bounding_planes" type="string" value="0 0 1 -0.01" />
    <param name="compute_contacts" type="bool" value="false" />

    <param name="pointcloud_padd" type="double" value="0.00" />

    <rosparam command="load" file="$(find TRACBot_arm_navigation)/config/robot_padding.yaml" />     

    </node>
</launch>

filter config file:

service_type: FilterJointTrajectoryWithConstraints    
filter_chain:   
   -     
       name: unnormalize_trajectory  
       type: UnNormalizeFilterJointTrajectoryWithConstraints           
   -    
      name: cubic_spline_short_cutter_smoother  
      type: CubicSplineShortCutterFilterJointTrajectoryWithConstraints      
      params: {discretization: 0.01}

Thanks,

Jonathan