Shoplifting and H1B stamping H Visa

I am on H1B visa and I was caught shoplifting items worth $100 earlier this year.
I hired a criminal attorney, who asked me to do community service before my court date. I did 30 hours and on court date my case was dismissed.I have also applied for expungement of my case.
Now I have the certified copies of my dismissal signed by the DA and I need to visit my home country for H1B visa stamping.
At the time of incident, I was taken to a room and given a citation and let go.
There is a portion on the form DS160 which asks for any arrests/convictions. Should I answer yes or no?
Also, would it be safe to travel and go for my visa interview?
Please help