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I have not yet tried it, but I believe you use the pr2_computer_monitor as an example to build a package that will pull information from stdout and stderr of a given command. If you look in the bottom of nvidia_smi_util.py, you can see how to execute a commmand and pull its output. It launches: sudo nvidia-smi -a, so you could change that to an lm_sensors command that that outputs your desired temperature reading.

Also, there is a package called nvidia_gpu_monitor, but I have not tried it.