Anyone with experience with the smart servo shield...

I'm thinking of buying a smart servo shield, but first I need to know if it can work with the bioloidcontroller library. Anyone ever tried it? Also, has anyone ever had a problem where they had to constantly recover the firmware on their dynamixels? I'm using an arduino mega with a Ax-12 CDS55xx Driver board, and I think the board is the problem, that's why I'm looking to buy this shield. Any help/input/tips are appreciated. Thanks in advance