ROS Node for BeagleBone Black

I have been searching high and low for a ROS node for the BeagleBone Black, with no success. I am well capable to make my own node, but I have little experience with device trees in Linux, and therefore would not like to make my own library. Has anyone found a C or C++ library that works with the BeagleBone Black without a Robotics Cape, especially for the new kernel? If not, what is the difference between the new(8.6) and old(7.?) kernel in terms of device trees? Here is what I have so far:

This is my BeagleBone Blue ROS project that is a sort of TurtleBot for the BeagleBone Blue. It is very much a work in progress, as I only have been messing with it for about a week now, and on my free time. I use the Robotics Cape library as the hardware to software interface. Here is the github link:

I found this great library, but it is for the old kernel. I would love to use it, but it is outdated:

Ultimately, if nothing is found, I would love to start a community project to create a BeagleBone Black and Blue ROS Node for all to use. I just hope to start off with a library, so the wheel doesn’t have to be reinvented. If anyone has any tips or is just willing to help out, please let me know!