Convert sample C++ code to ROS package (Ubuntu 18.04)

I have received sample code from a partner. I need someone to modify the sample code to operate as a ROS package (using the Melodic release), outputting data to topics and taking in ROS parameters at launch. The code is for a 6DOF sensor that I would like to use as an input to a control system. The sample code is written in C++ and compiles with CMake.

Please see the attached files for insight into the complexity of the project.