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Simply said: AFAIK there is no other way, at least no easy way.

At least no ROS-way. You can obviously use tools like sed, vim's regexp search/replace. It is usually not that much work in the package itself.

The uglier problems arise from all other packages that use the package and refer to the name. You will need to change all those, e.g. depends lines, $find lines in launch files, etc.