diff --git a/include/dynamixel_robot_gazebo/dynamixel_device.h b/include/dynamixel_robot_gazebo/dynamixel_device.h
index 9795c2b582f427da7b2f3274c9003f4f4319a87c..9e9fa86d538a5c2ca6ca369c59513cbcbfee253e 100644
--- a/include/dynamixel_robot_gazebo/dynamixel_device.h
+++ b/include/dynamixel_robot_gazebo/dynamixel_device.h
@@ -31,6 +31,7 @@ namespace dynamixel_robot_gazebo
       virtual void update(const ros::Duration& period)=0;
       unsigned char get_id(void);
       std::string get_name(void);
+      unsigned char *get_memory(void);
       virtual ~CDynDevice();
   };
 }
diff --git a/src/dynamixel_device.cpp b/src/dynamixel_device.cpp
index 13c209039ab720b04bf0ffea4064f045b321f377..eca8b2fe4edf2d706cc07bf8c7ea61e61efc95b2 100644
--- a/src/dynamixel_device.cpp
+++ b/src/dynamixel_device.cpp
@@ -81,6 +81,11 @@ namespace dynamixel_robot_gazebo
     return this->name;
   }
 
+  unsigned char *CDynDevice::get_memory(void)
+  {
+    return this->memory;
+  }
+
   CDynDevice::~CDynDevice()
   {
     if(this->memory!=NULL)