http://ros.informatik.uni-freiburg.de/roswiki/rosbag%282f%29Code%2820%29API.html
http://www.willowgarage.com/pages/software/ros-platform
http://www.ros.org/wiki/imu_drivers/ChangeList
http://www.ros.org/reps/rep-0003.html
http://www.ros.org/wiki/ROS/ChangeList
http://www.willowgarage.com/blog/2011/08/30/its-electric?page=17