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I recommend Dynamixel SDK and Dynamixel Workbench package

This Dynamixel SDK package is wrapping version of ROBOTIS Dynamixel SDK for ROS. The ROBOTIS Dynamixel SDK, or SDK, is a software development library that provides Dynamixel control functions for packet communication (both protocol 1.0 and 2.0). And, Dynamixel Workbench package supports to easily change the ID, baud rate and operating mode of the Dynamixel. Furthermore, it supports various controllers based on operating mode and Dynamixel SDK.

http://wiki.ros.org/dynamixel_sdk
http://wiki.ros.org/dynamixel_workbench

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