commit initial release version with everything working ;-)

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(um7)
+
+find_package(catkin REQUIRED COMPONENTS roscpp serial roslint sensor_msgs 
+             message_generation)
+
+add_service_files(
+  FILES
+  Reset.srv
+)
+
+generate_messages()
+
+catkin_package(
+   INCLUDE_DIRS include
+   CATKIN_DEPENDS message_runtime
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp executable
+add_executable(um7_driver src/main.cpp src/registers.cpp src/comms.cpp)
+target_link_libraries(um7_driver ${catkin_LIBRARIES} )
+add_dependencies(um7_driver um7_generate_messages_cpp)
+
+
+#############
+## Install ##
+#############
+
+install(TARGETS um7_driver
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+##########
+## Docs ##
+##########
+
+file(GLOB LINT_SRCS
+  src/*.cpp
+  include/um6/registers.h
+  include/um6/comms.h)
+roslint_cpp(${LINT_SRCS})
+roslint_add_test()
+
+#############
+## Testing ##
+#############
+
+catkin_add_gtest(${PROJECT_NAME}_test_registers test/test_registers.cpp src/registers.cpp)
+catkin_add_gtest(${PROJECT_NAME}_test_comms test/test_comms.cpp src/comms.cpp src/registers.cpp)
+if(TARGET ${PROJECT_NAME}_test_comms)
+  target_link_libraries(${PROJECT_NAME}_test_comms util ${catkin_LIBRARIES})
+endif()
+if(TARGET ${PROJECT_NAME}_test_registers)
+  target_link_libraries(${PROJECT_NAME}_test_registers util ${catkin_LIBRARIES})
+endif()
+
+

README.md

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+ros-drivers-um7
+===============
+
+ROS driver for the CH Robotics UM7 inertial measurement device.
+Supports standard data and mag topics as well as providing temperature and rpy outputs.
+  See the ROS wiki for details:  (soon to come)

include/um7/comms.h

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+/**
+ *
+ *  \file
+ *  \brief      Comms class definition. Does not manage the serial connection
+ *              itself, but takes care of reading and writing to UM7.
+ *  \author     Mike Purvis <[email protected]>
+ *  \copyright  Copyright (c) 2013, Clearpath Robotics, Inc.
+ * 
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of Clearpath Robotics, Inc. nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * 
+ * Please send comments, questions, or patches to [email protected] 
+ *
+ */
+
+#ifndef INCLUDE_UM7_COMMS_H_
+#define INCLUDE_UM7_COMMS_H_
+
+#include <stdint.h>
+#include <string>
+
+namespace serial {
+  class Serial;
+}
+
+namespace um7 {
+
+class SerialTimeout : public std::exception {};
+
+class BadChecksum : public std::exception {};
+
+class Registers;
+class Accessor_;
+
+class Comms {
+  public:
+    explicit Comms(serial::Serial* s) : serial_(s), first_spin_(true) {
+    }
+
+    /**
+     * Returns -1 if the serial port timed out before receiving a packet
+     * successfully, or if there was a bad checksum or any other error.
+     * Otherwise, returns the 8-bit register number of the successfully
+     * returned packet.
+     */
+    int16_t receive(Registers* r);
+
+    void send(const Accessor_& a) const;
+
+    bool sendWaitAck(const Accessor_& a);
+
+    static const uint8_t PACKET_HAS_DATA;
+    static const uint8_t PACKET_IS_BATCH;
+    static const uint8_t PACKET_BATCH_LENGTH_MASK;
+    static const uint8_t PACKET_BATCH_LENGTH_OFFSET;
+
+    static std::string checksum(const std::string& s);
+
+    static std::string message(uint8_t address, std::string data);
+
+  private:
+    bool first_spin_;
+    serial::Serial* serial_;
+};
+}
+
+#endif  // INCLUDE_UM7_COMMS_H_
+