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I'v created a joint velocity controller and a multiple joint velocity controller, the modified dynamixel_motor pkg can be found here: https://bitbucket.org/ElodP/dynamixel-velocity-controller/overview

Details are in the README. For more information feel free to contact me.

Notice: Min Angle (CW) and Max Angle (CCW) *are not the same as *minAngle and maxAngle parameters. The first pair is the original parameters for CW and CCW, while the second pair of params are specific for my velocity controller applied on a robot arm that has physical angle limits.

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