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I'm not aware of any PNI drivers. We would have had one for you, but I wrote that one for our custom FPGA solution. ;) No getting that one out.

It shouldn't be too difficult to write using pyserial or boost::asio. If you remember to make it generic for all their compasses, and reconfigurable (maybe even with dynamic reconfigure), you would make it very valuable to the community.

PS: my suggestion on an output message would be a geometry_msgs/QuaternionStamped. Our compass also output pitch and roll, although not filtered, so this message type could output all of those values at once.