I’m currently abroad on travels and cannot assist you directly. I’ll take a look as soon as I can, which may be this weekend or next week.
To me it’s unclear at the moment whether this is a configuration issue on the controller’s side, or whether the ROS side is faulting.
What you could try for now is see whether this pr improves things. If it does, I’ll have a better idea of what is going on exactly. Note that the PR is slightly behind the state of kinetic-devel, but that shouldn’t matter for what you’ll be testing iirc.