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Interfacing between ros control and dynamixel controllers

I am trying to use the steered wheel base controller plugin with ros control and dynamixel controllers to control a robot having four steered wheels(servos used are dynamixel MX 28). I am able to load the plugin given in the following link: Now that I have to read and write the states and commands of dynamixel servos, I believe that I have to follow the tutorial in this link:

At this stage I am wondering if I can set the values in the topics published by dynamixel controllers to the variables given in the above tutorial directly, or should I be using the dynamixel API's to sets these values. I found the former method to be doubtful as the following link: says that "One major feature that is missing in ros_control is a proper realtime-friendly dataflow interface".