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Now that you've gotten comfortable with linux, Dynamixel, ROS, rviz, etc., the next step is to actively move the robot arm. This involves controlling the manipulator in joint-space and in Cartesian-space.
Joint space control is done by identifying the proper ROS topic to publish to within the manipulator interface. It might not be the same one as for the raw Dynamixel, but may be an intermediate one that then publishes to the raw Dynamixel topics.
Cartesian space control definitely works differently. This requires some wrapper libraries or APIs for managing the inverse kinematics that perform the translation from Cartesian space to joint space. One such API is _MoveIt!_, which has been around for over a decade now. It is reasonable functional. Demonstration involves planning a trajectory and executing it through the _MoveIt!_ interface of Rviz or through a C++ interface. (Not sure if there is a python interface, or it might be buggy)