Hello Zak,

I used the  http://www.ros.org/wiki/robotis robotis  package succesfully
with Dynamixel servos.
if I remember correctly, It contains a whole set of Python tools to set your
servo's ID and controllers, as well as a node that will listen to servo's
commands and publish their current states. 
Servos' setup is explained in the README file of the package.

If you are really new to ROS, make sure you follow the basic 
http://www.ros.org/wiki/ROS/Tutorials tutorials  as to understand how to
manage ROS nodes. In particular, 
http://www.ros.org/wiki/ROS/Tutorials/UnderstandingNodes this one  shows how
to start a node.

I hope it sets you on the right track,

Raph

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