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I've solved my problem, that was the nh.spinOnce(); that wasn't called quickly enough. The fullfilement of my array pos was slow because of the Dynamixel.readPosition(id)) statement. This leads to a bad sync between the Arduino and ROS. So if you have the same error as me:

[INFO] [1583446774.076031]: Requesting topics...
[INFO] [1583446774.226598]: Setup publisher on joint_states [sensor_msgs/JointState]
[ERROR] [1583446789.223287]: Lost sync with device, restarting...

Just make sure that spinOnce(); is called at a high rate.

I've solved my problem, that was the nh.spinOnce(); that wasn't called quickly enough. The fullfilement of my array pos was slow because of the Dynamixel.readPosition(id)) statement. This leads to a bad sync between the Arduino and ROS. So if you have the same error as me:

[INFO] [1583446774.076031]: Requesting topics...
[INFO] [1583446774.226598]: Setup publisher on joint_states [sensor_msgs/JointState]
[ERROR] [1583446789.223287]: Lost sync with device, restarting...

Just make sure that spinOnce(); is called at a sufficiently high rate.frequency.