Just got an OpenRB-150 for beta tests. I was using the Arduino Core 0.1.0 for OpenRB-150 along with two hot-fixes:
The OpenRB-150 comes with Serial2 set up with the usual UART 4-pin port (near the DXL-VIN jumper), but the user will have to do some soldering work to put a 1x4 PIN Header Socket (Pitch 2mm) before it is usable. Then a BT-210/410 module can be used there as Serial2.
As far as Arduino programming is concerned, there is no longer the need to specify DXL_DIR_PIN (see Line 28 in the sketch below):
The Dynamixel2Arduino library seems to be working OK for me, so far.
The RC100 Library is also working OK for Serial2.
Here I was using the Virtual Controller RC-100 from TASK 2 Tool to verify that Remocon packets were going from the PC (BT-410 dongle) through the BT-410 receiver (Serial2) and then the Arduino sketch OK.
To test out the I2C port, I was using the ToF sensor VL53L5CX from Pololu. This sensor was working OK with the OpenRB-150.
To test out the SPI port, I was using the Pixy2 camera from Charmed Lab which worked OK also.