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i found the solution. I dont known why but ros::Duration(3).sleep(); doesnt help, So, i use loop_rate.sleep();. Like:

  ros::Rate loop_rate(0.2);
  ...
  ....
  r_arm_comand_publisher.publish(msg);

  ros::spinOnce();
  loop_rate.sleep();

in this way i get everything working well.

Thanks for all the help