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Well, you already mention the examples yourself.

Interfacing SOEM with ROS is possible, as it is only C++. So this all depends on your implementation. The hardest part will most probably be to set up/implement your driver correctly. But afair there are non already available. You'd have to implement this yourself.

I integrated a Elmo Gold DC Whistle with ROS using SOEM. Here is an example script which shows the interfacing of SOEM and Elmo. The rest was really just putting this into a proper ROS package, adding ROS interfaces and making it nice :)