Hi, 
I've got a HiTechnic NXT Compass and have created a small patch to hook it up 
in a manner consistent with the other NXT ROS sensors. I've tested it and all 
is working fine. My compass msg is basically the same as the gyro_imu 
orientation quaternion.

I've been in contact with Melonee who suggested I submit a patch as a diff 
attached to a ticket. I'm not familiar with your processes (and am fairly new 
to ROS in general), so apologies if I've gone about this the wrong way. I've 
attached a file containing the output of the mercurial "commit preview" diff 
for the 2 files modified and 2 files added. I've also included a zip of the 
modified/added files in case that helps.

Cheers,
Mark