Yes he did. See the related link to WIkipedia. Scroll down to the section 'Television adaptations' - there is a picture of him in the role.
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Georges Simenon wrote the Maigret novels and short stories.
Cam Davies is 5' 10".
Rupert Sadler is 6' 1".
Rupert McGuigan was born in 1941.
Rupert Gunnis died in 1965.