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The linux account you are using to run ROS probably does not have read-write permission for the device /dev/i2c-0. As a quick hack, you can issue this command:

sudo chmod 666 /dev/i2c-0

but this will need to be repeated if you reboot the machine.

The better thing to do is to create a udev rule which will change the permissions on this device each time the machine boots.

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