There are two (2) probate filings, one in Campbell Co., VA. and theoth er in Wilkes Co., GA. They list his children as: William, Mathew,Talbo t, Martha, Jane Routon, and Lucy McKelroy.
And from Descendants of Martha Talbot at freepages is:
Barnabas had a will probated 5 on 4 Nov 1799 in , Campbell Co.,Virgini a. He had a will probated 6 on 9 Nov 1802 in , Campbell Co.,Virginia.