can't move dynamixel using joint_state_publisher [closed]

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Hi

I'm reading the book "Mastering ROS for Robotics Programming" and I'm trying use the end section of chapter 10 to move my own robotic arm with moveit! for about a week.

There is a problem: moveit! (joint_state_publisher node actually) can read dynamixels' position &.... as it subscribe the /state topics; but I can't command them to go to the goal positions.

Even when I launch joint_state_publisher with GUI, the GUI show the current position but it don't allow me to change motors' position. But I can do it by run a rostopic pub on the /command topic manually.

I can't understand where i'm wrong. Can you help me to solve the problem?

Thanks