Hi David,
can you link Thor ros packages?I am working on ROS intigration as well. And i actually use Angels Hardware.I do not see a prob to do so.But for sure to implement thor in ros there are some custom ROS node needed. ;I am working in ROS indego. And have put the Ardurino board to an Intel edison via serial line.On Intel Edison i have ros runnning. On Ardurino GRBL FW.
Im working on URDF config actually. To simulate Thor in ROS. The will programm the needed nodes to attach ROS to grbl.
CU Oliver