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Do you have this package installed?

https://wiki.ros.org/dynamixel_controllers

Do you have every run dependency from it installed?

  <run_depend>rospy</run_depend>
  <run_depend>actionlib</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>trajectory_msgs</run_depend>
  <run_depend>diagnostic_msgs</run_depend>
  <run_depend>dynamixel_msgs</run_depend>
  <run_depend>control_msgs</run_depend>
  <run_depend>dynamixel_driver</run_depend>

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