Chnaged the name of the protocol version parameter.

src/dynamixel_robot_gazebo.cpp

-#ifndef DYNAMIXEL_ROBOT_GAZEBO_IMP_H
-#define DYNAMIXEL_ROBOT_GAZEBO_IMP_H
-
 #include <sys/stat.h>
 
 #include "exceptions.h"
 #include "dynamixel_robot_gazebo.h"
+#include "dynamixel_slave_serial.h"
+#include "dynamixel_servo.h"
 
 namespace dynamixel_robot_gazebo
 {
@@ -95,10 +94,14 @@ namespace dynamixel_robot_gazebo
 
   inline void DynamixelRobotGazebo::starting(const ros::Time& time)
   {
+    if(this->dyn_slave!=NULL) 
+      this->dyn_slave->start();
   }
 
   inline void DynamixelRobotGazebo::stopping(const ros::Time& time)
   {
+    if(this->dyn_slave!=NULL)
+      this->dyn_slave->stop();
   }
 
   DynamixelRobotGazebo::DynamixelRobotGazebo()
@@ -160,7 +163,7 @@ namespace dynamixel_robot_gazebo
     }
     
     try{ 
-      dynamixel_nh.getParam("protocol", protocol);
+      dynamixel_nh.getParam("protocol_version", protocol);
       if(protocol==1)
         this->dyn_slave=new CDynamixelSlaveSerial(root_nh.getNamespace()+"_slave",device_name,dyn_version1);
       else if(protocol==2)
@@ -233,5 +236,3 @@ namespace dynamixel_robot_gazebo
 } // namespace
 
 PLUGINLIB_EXPORT_CLASS(dynamixel_robot_gazebo::DynamixelRobotGazebo, controller_interface::ControllerBase)
-
-#endif // header guard