Unable to connect to yumi robot

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I am using Ubuntu 16.04 with ROS Kinetic and I am trying to connect to the Yumi robot (for this I use the https://github.com/OrebroUniversity/yumi and the catkin_make was successful), but I have the following error:

Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
Failed to receive message length
Failed to receive incoming message

while in the FlexPendant I have:

ROS_StateServer->StateServer: Waiting for connection.
ROS_MotionServer->MotionServer: Waiting for connection
ROS_StateServer-> client connected 
ROS_MotionServer -> client connected

This is confusing me; am I or not connected to the robot? I tried with both network connection, the service port and the regular one, but I get the same error.

If I do rostopic echo joint_states I received some data but is not correct (the position of joints is [0 0 0 0 0 0 0], while should have other configuration)

I have followed the tutorials RobotStudio, InstallServer and RunServer and I do not know what am I doing wrong. Can you help me with some sugestions?

Thanks in advanced!