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The best resource on the general process for talking to a new piece of hardware in ROS is Chapter 15 of Programming Robots with ROS. It describes the general process for creating new ROS nodes to talk to a sensor or actuator. However it doesn't cover the specific part of talking to the hardware, because this varies far too much between different pieces of hardware to write a general description.
In the case of your board, there is a software development kit available for Linux and a technical wiki that has a lot of information on how the board is programmed. You also apparently need to install a Linux kernel driver to handle the actual communication with the board, but after that you should be able to use the provided API to handle communication with it. Once you have the driver installed, I recommend you try out the examples to learn how the board works (skip this step if you already know). Then you can do the same sort of thing as the examples to talk to the board from your ROS node(s).
As the book linked above says, you will need to decide what ROS interface your nodes will provide for interacting with the boards. This depends on the specific hardware you are using with it.
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