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There seems to be a mismatch between joint names. In line 37 of the dynamixel tutorial : arm = Joint('f_arm') you need to set the same name as in your motor driver, i.e. arm = Joint('joint0_position_controller')

here I post a snippet of our arm driver based on dynamixel_motor.

  <node pkg="dynamixel_controllers" type="controller_spawner.py" name="joint_position_controller_spawner" output="screen"
        args="--manager=cyton_manager
              --port left_arm_port
              --type=simple
              joint0_position_controller" />