Can this package be adapted to the RC7 Controller?

[creuter27]

Since this package uses b-cap and the RC7 controller supports b-cap, I assume this package could be adapted to the RC7 controller although it is not officially supported.
Could someone more knowledgeable confirm this and maybe even provide an estimate for the complexity of doing that?
Are there any showstoppers making it impossible to adapt this code to the RC7?
Does anyone have an idea for an alternative way to use an RC7 controller with ROS?

Thank you!