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I have heard I could write a ROS wrapper for the device and include it as a node in some sensory package, and I have heard I can just write a script that includes roscpp and run a loop to publish incoming data.

You heard correct! That's going to be the general idea here. You'll likely have to define a custom message type for your sensor (see tutorials here and here), but, essentially, you will just read the data from the sensor, fill in your custom message, then publish the message with a ROS publisher.