Can rosbag record and playback action goal?

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Hi,

I am wondering if rosbag is able to record a action goal? Right now, I use moveit to generate a trajectory for pr2 left arm. And I want to record the trajectory and use it again later.

I tried to use rosbag to record the message in topic

/l_arm_controller/follow_joint_trajectory/goal

and tried to playback the message. I am able to see the playback message using "rostopic echo". However, pr2's left arm didn't move. I guess maybe pr2's left arm controller will only work once it receive a action goal.

Is there anyway to record a action goal?

Following is all topics related to left arm controller.

/l_arm_controller/command
/l_arm_controller/follow_joint_trajectory/cancel
/l_arm_controller/follow_joint_trajectory/feedback
/l_arm_controller/follow_joint_trajectory/goal
/l_arm_controller/follow_joint_trajectory/result
/l_arm_controller/follow_joint_trajectory/status
/l_arm_controller/joint_trajectory_action/cancel
/l_arm_controller/joint_trajectory_action/feedback
/l_arm_controller/joint_trajectory_action/goal
/l_arm_controller/joint_trajectory_action/result
/l_arm_controller/joint_trajectory_action/status
/l_arm_controller/state

Thanks for any help in advance!