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OK I found the fix from a related posting on a sparkfun site, apparently BYTE has been deprecated in the Serial package http://forum.sparkfun.com/viewtopic.php?f=32&t=30991

Thus

Serial.print(value, BYTE);

need to be replaced with:

 Serial.write(value);

So to fix this, edit the ros.pde file and remove all BYTE entries, (after backing it up first) then save it and it compiles perfectly!
-Scott

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