[ros-users] How to write drivers for ROS

Hello!

I'm trying to build a mobile robot control system based on ROS. I need
to implement some robot specific ROS-drivers (e.g. CAN-bus driver,
ZigBee driver an so on).

Are the some tutorials\samples, about how to write drivers for ROS?

Could I implement my driver in plain C and then wrap it up in ROS component ?

Thanks.