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All,
I am currently working on the same thing and got at least the GPIOs working. SPI, I2C, RS232 is implemented but not tested yet. What you need is the bosch_drivers package http://www.ros.org/wiki/bosch_drivers
Up to this point it only supports the Arduino and the Sub20 as hardware interface but I wrote a raspi_interface as well. You can get it from my private repo https://github.com/kalectro/raspi_interface.git
As you can see it is still under heavy development but as I said the GPIOs should be working. I make use of the awesome wiringPi library which needs to be installed. Get it from here http://wiringpi.com/download-and-install/
Feel free to fork or submit issues if you find any bugs or have any suggestions
Kai
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