ROSSerial compatibility with APM

I'm trying to use www.ros.org/wiki/rosserial to control and communicate with my ardupilot-mega. When I include ros.h I get compilation errors that I believe are caused by some incompatibility with one of the other libraries APM uses. Has anyone seen

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How to publish Ardupilot information to ROS topic

I'm trying to publish my Ardupilot's state information over serial (usb or xbee) to my computer running a ROS node listening to those serial messages and publishing the corresponding topic.

I am currently running the latest ardupilot software and mavl

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