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You certainly can.

The first thing to be aware of is that once you're connected, messages are flowing so if your listeners are not in place before connecting you may miss something.

The second thing to be aware of is the ordering between when your BusObject is registered and when you request and advertise a name, or send an announce. The registration should happen before either of those two, otherwise remote nodes may attempt to send messages to your BusObject before it is in place to receive them.