Dynamixel AX-12 help

edit

thank you, will give that a go now

tried them, get these errors:

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started roslaunch server http://aether-book:32957/

SUMMARY
========

PARAMETERS
 * /shoulder_tilt_controller/motor_master/init
 * /rosdistro
 * /shoulder_pan_controller/controller/package
 * /shoulder_pan_controller/joint_name
 * /shoulder_tilt_controller/joint_speed
 * /shoulder_pan_controller/joint_speed
 * /shoulder_tilt_controller/motor_slave/id
 * /shoulder_pan_controller/motor/id
 * /shoulder_pan_controller/controller/module
 * /shoulder_tilt_controller/controller/module
 * /shoulder_tilt_controller/motor_master/id
 * /shoulder_tilt_controller/controller/package
 * /rosversion
 * /shoulder_tilt_controller/controller/type
 * /shoulder_tilt_controller/joint_name
 * /shoulder_tilt_controller/motor_master/max
 * /shoulder_pan_controller/motor/min
 * /shoulder_pan_controller/controller/type
 * /shoulder_pan_controller/motor/max
 * /shoulder_pan_controller/motor/init
 * /shoulder_tilt_controller/motor_master/min

NODES
  /
    smart_arm_controller_spawner (ax12_controller_core/controller_spawner.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[smart_arm_controller_spawner-1]: started with pid [4726]
[INFO] [WallTime: 1313164188.816477] ttyUSB0 controller_spawner: waiting for controller_manager to startup in global namespace...
[INFO] [WallTime: 1313164188.874621] ttyUSB0 controller_spawner: All services are up, spawning controllers...
No handlers could be found for logger "rosout"
[ERROR] [WallTime: 1313164188.918949] Cannot find controller module. Unable to start controller joint_position_controller
No module named joint_position_controller
[ERROR] [WallTime: 1313164188.955237] Cannot find controller module. Unable to start controller joint_position_controller_dual_motor
No module named joint_position_controller_dual_motor
[ERROR] [WallTime: 1313164188.962476] [elbow_tilt_controller] configuration error: could not find controller parameters on parameter server
[smart_arm_controller_spawner-1] process has died [pid 4726, exit code 1].
log files: /home/aether/.ros/log/612bfeb2-c4f2-11e0-95eb-00261882a7d2/smart_arm_controller_spawner-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done