How do i connect rs-244 sensor to communicate with ros node? should i have to first make a linux device driver for this? or it is already present. i am totally new in this device driver and ros wrapper thing. since i didn't find ros drivers for the sensors which i want, so i think i'll have to write new hardware interface. for example if i want this and this type of sensors for my small RCWS project which has rs-422 and rs-232( which is new for me) type of uart connections, than how should i start to make ros communicate with it?