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About a year ago we used the bumblebee2 very successfully in ROS, but we did not use the pointgrey library nor the factory provided calibration files:
http://www.youtube.com/watch?v=r9iAnATJuaQ
We used the standard ROS stereo image pipeline and calibration tools with the bumblebee2. We also had to modify the camera_drivers node to support format_7 firewire (two cameras on one cable):
https://github.com/Auburn-Automow/camera_drivers
I don't have time to walk you through the whole process, but perhaps some of the stuff in that repo will help.
Other resources:
http://www.ros.org/wiki/image_pipeline/Tutorials
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