How can control a arm(hardware) using moveit

Hi, We are created a 7-DOF robotic arm using Dynamixel servos. And I am created its URDF model and moveit-config-pkg (using the tutorial http://moveit.ros.org/wiki/PR2/Setup_Assistant/Quick_Start ).And I am looking to control my arm(both fk and ik) using move it. I am struggling to create its ros-dynamixel hardware controller so that i can able to control my arm (hardware) using ros and moveit. My Dbts 1. How can I create a ros-dynamixel hardware controller for my move-it arm package. 2. How can I move my arm to defined x,y,z (ik calculation) coordinates. Thanks in Advance.