No need to wait after Wire.requestFrom() and it should not be followed by Wire.endTransmission().

[Koepel]

The usage of the Wire library in this and other repositories can be improved.
Explanation: Common-mistakes, number 1 and 2.

For example this (after a Wire.requestFrom):

  unsigned int millis_start = millis();
  while (Wire.available() < 6) {
    if (io_timeout > 0 && ((unsigned int)millis() - millis_start) > io_timeout)
    {
      did_timeout = true;
      return;
    }
  }

That could be removed. If you want to check the number of received bytes, it can be replaced by this:

  if( Wire.available() != 6) {
    did_timeout = true;     // it is not a timeout, it is a I2C bus error
    return;
  }

I am not sure if checking the number of received bytes is very useful, since you don't check the error code from the Wire.endTransmission() when writing data.

A while-loop after the Wire.requestFrom() can be removed:

  while (Wire.available() < 3);

A Wire.endTransmission() should not be used after a Wire.requestFrom(). That extra Wire.endTransmission() will cause an extra I2C bus transaction. Removed that will improve the working of the Arduino.

Could you check the repository yourself ? Or do I have to mention all the files ?

• DDSA-ROS/arduino/libraries/IMU/L3G.cpp
• DDSA-ROS/arduino/libraries/IMU/LPS.cpp
• DDSA-ROS/arduino/libraries/lsm303-arduino/LSM303.cpp
• DDSA-ROS/Swarmathon-Arduino/libraries/IMU/LPS.cpp
• DDSA-ROS/Swarmathon-Arduino/libraries/IMU/L3G.cpp
• DDSA-ROS/Swarmathon-Arduino/libraries/IMU/LSM303.cpp

and the "BlinkM_funcs.h" has also a useless while(Wire.available loop.