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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