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Hi :) Nice to see you again.

ROBOTIS has provided github repository for Manipulator-H (https://github.com/ROBOTIS-GIT/ROBOTIS-MANIPULATOR-H) I recommend to use this package to control it in Gazebo. Furthermore, dynamixel_controllers are not supported by ROBOTIS. This package doesn't support to Dynamixel PRO as i know.

In order to control Dynamixel PRO, you should use one of ROBOTIS official packages such as DynamiselSDK(https://github.com/ROBOTIS-GIT/DynamixelSDK), Dynamixel-Workbench(https://github.com/ROBOTIS-GIT/dynamixel-workbench) or ROBOTIS-Framework(https://github.com/ROBOTIS-GIT/ROBOTIS-Framework). Most of all, ROBOTIS-Framework is used to control Thormang3 which is assembled by Dynamixel PRO. So this package would be help you. If you have any question or issue, please visit there issue page.

Your main goal is to connect the manipulator to MoveIt!. Below steps would be help you.

1. Make MoveIt! Package to use setup assistant (http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html)
2. Control your Dynamixel by ROS package (https://github.com/ROBOTIS-GIT/ROBOTIS-Framework)
3. Check which topic is to send joint position or planned path (For example "/move_group/display_planned_path")
4. Connect path topic to joint control topic (https://github.com/ROBOTIS-GIT/open_manipulator/blob/master/open_manipulator_position_ctrl/src/position_controller.cpp#L414)

Good luck!