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

[Koepel]

The Wire library is used in the wrong way in the files:

• SwarmBaseCode-ROS/arduino/libraries/IMU/LPS.cpp
• SwarmBaseCode-ROS/arduino/libraries/IMU/L3G.cpp
• SwarmBaseCode-ROS/arduino/libraries/IMU/LSM303.cpp
• SwarmBaseCode-ROS/arduino/libraries/lsm303-arduino/LSM303.cpp
• SwarmBaseCode-ROS/arduino/libraries/ros_lib/examples/Temperature/Temperature.pde

Explanation: Common-mistakes, number 1 and 2.

After a Wire.requestFrom() there should be no Wire.endTransmission().
After a Wire.requestFrom(), all the waiting may be removed, for example while (Wire.available() < 3); or delay(10);.
The waiting with millis() may also be removed. There is not timeout after a Wire.requestFrom(), so the variable did_timeout makes no sense.

It is possible to check if the data was received:

  Wire.requestFrom(address, (byte)6);
  if(Wire.available() != 6)
  {
    i2c_sensor_error = true;   // a variable name that I made up
    return;
  }

That will detect if the sensor was connected or not, but the return value of Wire.endTransmission() could also be used for that.