 *******************************************************************************/
 void initJointStates(void)
 {
-  static char *joint_states_name[] = {"wheel_left_joint", "wheel_right_joint", "manipulator", "gripper"};
+  static char *joint_states_name[] = {"wheel_left_joint", "wheel_right_joint", "manipulator_joints", "gripper_joints"};
 
   joint_states.header.frame_id = joint_state_header_frame_id;
   joint_states.name            = joint_states_name;


  for (uint8_t num = 0; num < (joint_cnt + gripper_cnt); num++)
  {
    joint_states_pos[2+num] = get_joint_position[num];
  }

  for (uint8_t num = 0; num < (WHEEL_NUM + joint_cnt + gripper_cnt); num++)
  {
    joint_states_vel[num] = 0.0f;
    joint_states_eff[num] = 0.0f;
  }


*******************************************************************************/
void updateJointStates(void)
{
  static float joint_states_pos[20] = {0.0, };
  static float joint_states_vel[20] = {0.0, };
  static float joint_states_eff[20] = {0.0, };

  double get_joint_position[joint_cnt + gripper_cnt];
  manipulator_driver.readPosition(get_joint_position);

  joint_states_pos[LEFT]  = last_rad[LEFT];
