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The Cyphy lab at QUT has ROS drivers for the Novint Falcon on their ROS repo at launchpad. I think they are using it with a Mikrokopter.

http://bazaar.launchpad.net/~cyphylab/cyphy/bonsai/files

They also have a direct link to someone's dropbox account on their wiki, I'm not sure which version is more up to date.

https://wiki.qut.edu.au/display/cyphy/RosFalcon