Convert some ROS nodes written in Python to C++

We have prototyped a number of ROS nodes in python and we need them translated to C++ for performance reasons. The python nodes are actually quite simple, but they use a number of python libraries such as python-serial, python-smbus, python-xbee, so those calls will have to be converted into boost calls or some custom code. Before submitting a bid please send me your github account name so I can give you read only access to the source code, so you can understand the scope of the project.