dynamixel motor smooth motion

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Hi there

i just purchased a Dynamixel RX-24F motor to move a hokuyo laser scanner in order to get 3d point clouds. Right now im using dynamixel_motor package, and i set up a position controller with these parameters:

tilt_controller:
controller:
    package: dynamixel_controllers
    module: joint_position_controller
    type: JointPositionController
joint_name: tilt_joint
joint_speed: 0.2
motor:
    id: 1
    init: 512
    min: 0
    max: 1023
joint_compliance_slope: 254
joint_compliance_punch: 1

I really want to move the motor really slow to achieve a dense point cloud, but when the motor is moving at these speeds its like a slip stick motion.

Is there a way to get the motion more smooth with the dynamixel motor package, maybe with a trajectory controller or is there a better solution out there to control the motor.

thanks Alex