Compile Error for the ros.pde sketch

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I am trying to put the ros.pde sketch onto the ArbotiX board that I am using for the turtlebot arm, and I get the following compile errors when I try to upload or verify the sketch:

ros.cpp:46:47: error: no matching function for call to ‘BioloidController::BioloidController()’
/home/marc/sketchbook/libraries/Bioloid/BioloidController.h:48:5: note: candidates are: BioloidController::BioloidController(long int)
/home/marc/sketchbook/libraries/Bioloid/BioloidController.h:45:1: note:                 BioloidController::BioloidController(const BioloidController&)
ros.cpp: In function ‘void loop()’:
ros.cpp:352:32: error: ‘class BioloidController’ has no member named ‘setup’
ros.cpp:386:40: error: ‘class BioloidController’ has no member named ‘setup’
ros.cpp:388:42: error: ‘class BioloidController’ has no member named ‘setId’
ros.cpp:404:77: error: ‘class BioloidController’ has no member named ‘getId’

I have the updated version of the BioloidController library and the newest version of the ros.pde sketch, although I will copy them here for completeness's sake:

ros.pde:

    /* 
  ArbotiX Firmware for ROS driver
  Copyright (c) 2008-2011 Vanadium Labs LLC.  All right reserved.

  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions are met:
      * Redistributions of source code must retain the above copyright
        notice, this list of conditions and the following disclaimer.
      * Redistributions in binary form must reproduce the above copyright
        notice, this list of conditions and the following disclaimer in the
        documentation and/or other materials provided with the distribution.
      * Neither the name of Vanadium Labs LLC nor the names of its 
        contributors may be used to endorse or promote products derived 
        from this software without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
  ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT,
  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
  OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
  LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
  OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
  ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ 

/* Build Configuration */
#define USE_BASE            // Enable support for a mobile base
#define USE_BIG_MOTORS      // Enable Pololu 30A support
#define USE_HW_SERVOS       // Enable only 2/8 servos, but using hardware control

#define CONTROLLER_COUNT    5
/* Hardware Constructs */
#include <ax12.h>
#include <BioloidController.h>
BioloidController controllers[CONTROLLER_COUNT];

#include "ros.h"

#ifdef USE_HW_SERVOS
  #include <HServo.h>
  HServo servos[2];
  int servo_vals[2];            // in millis
#else 
  #include <Servo.h>
  Servo servos[10];
  int servo_vals[10];           // in millis
#endif

#ifdef USE_BASE
  #ifdef USE_BIG_MOTORS
    #include <BigMotors.h>
    BigMotors drive = BigMotors();
  #else
    #include <Motors2.h>
    Motors2 drive = Motors2();
  #endif
  #include <EncodersAB.h>
  #include "diff_controller.h"
#endif

/* Register Storage */
unsigned char baud = 7;         // ?
unsigned char ret_level = 1;    // ?
unsigned char alarm_led = 0;    // ?

/* Pose & Sequence ...