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@Hyperion sorry for the very late answer.

Yes, you are totally on the right track with this. You can implement CoE using SOEM, e.g. There is a catkinized version of SOEM released into melodic, which should allow you to call sudo apt install ros-melodic-soem.

But I recommend to check out the Usage section of the ReadMe to make sure you don't run into include problems with the non-conform package layout the SOEM originally has...

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