Dual Arm Operation Error

[josephbhlee]

I have tried to operate dual arms at the same time, but failed.
//////////////////////////////////
1.Main Source Code
std::vector ppoints[2];
std::vector pvelocities[2];

//Use current pose as first trajectory point
ppoints[0] = readJointAngles();
pvelocities[0] = readJointVelocities();

//Use goal for position and 0 for velocity of second trajectory point
ppoints[1].assign(goal,goal+15);
pvelocities[1].assign(15,0.0);
double d_msg[2] = {0,duration};

control_msgs::FollowJointTrajectoryGoal msg = create_goal_message(ppoints, pvelocities,2,d_msg);

sendJointTrajectory(msg);

2.Error Message
-. Invalid number of joint
-. Invalid trajectory. Not sent
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When I tried to operate each part(left arm, right arm and Torso), there was no error.

Can you guide me to operate dual arms at the same time?

[G.A. vd. Hoorn]

There's already #475, let's not duplicate that in an issue here.