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Time to answer to myself... maybe can be useful for someone else.

Yes, it's possible and easy. I just needed to flash a slightly modified version of the pypose firmware and arbotix_ros works out of the box for controlling Dynamixel servos (to read sensors it must be slightly hacked). I didn't publish the code, as nobody else seems to be using the OpenCM9.04 with ROS, but I'll happily do if someone needs it.