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st_read_elmergeo() should be used to pull data from ElmerGeo (or Elmer) into an sf object. Tell it the name of the layer (or table name) you want to pull. It opens and closes the connection inherently, so there is no need to create your own DBI connection.

Example

The following creates an sf object county_layer from the polygon layer COUNTY_BACKGROUND in ElmerGeo:

library(psrcelmer)
county_layer <- st_read_elmergeo('COUNTY_BACKGROUND')