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I used a Novint Falcon device a few months ago. I can remember it being a little bit painful to set everything up, but I finally managed to get it working using HAPI (http://www.h3dapi.org/).

As for using it with ROS, I didn't. I did use it with Orocos but it took some ugly steps (i.e. a separate process and socket communication with an Orocos component) to make it work because there was some issues between HAPI and Orocos (something about the threads they spawned under the hood I think, but I didn't really dive into it).