About driver on ROS

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Thank you for answering! If I could get the source code of that device's driver for linux, how can I make use of it? Should I create a "bridge" node inside the ROS or something to make use of it?

Is this a device driver in form of a kernel module or similar OR a driver that is just a program in userland?

Usually you'd just write a ROS node that is the driver code (user), but instead of whatever interface it currently uses, e.g. text output, you'd send and receive ROS messages.

I have asked for more information. Now we got a .o file for linux kernel module driver and multiple .so Dynamic Loaded Library files. And a .h head file is given for using its API in linux. Could you please tell me how to make use of these things on ROS? I am a new guy. Thank you sincerely!!!

As a start you must have some kind of user space program (non-ROS) that talks to your hardware. This you have to figure out for yourself. The next step would be to build that same thing with ROS.

Once you are there identify what interfaces you'd like to have in ROS and just add these as in the basic tutorials.

Thank you so much! Now I am looking into it...

Could you help me again? I have got a driver for linux and a .so dynamic library in /lib. Now I can run the user-space program thing on linux. And I am changing it into ROS. But there is question that how to include that .so dynamic library by editing CMakeLists? I can use gcc -l to include that .so