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Hi Will, This is really helpful. I checked out your Sensoray 626 rospkg. It looks good. Everything is there. I probably will give it a try shortly. One more quick question about this pkg, I saw you are calling Sensoray626 API to communicate with ROS. Is that possible to talk to Sensoray626 through ROS topic or service. Have you tired that before? thanks. Jayson
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