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Error when trying to use joint_recorder.py from baxter example.

whenever i try to run the script joint recorder: rosrun baxter_examples joint_recorder.py -f output i get this error: OSError: [Errno 110] Failed to get current digital_io state from /robot/digital_io/left_lower_button

People who previously faced this problem suggested to re-launch gazebo, however it didn't work for me. if anyone knows what might be the problem please let me know.