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He replaced Pete Duel as Hannibal Heyes on the TV series "Alias Smith and Jones" (1971) following Duel's suicide in December 1971. George Peppard was also in the running for the part of Hannibal Heyes. An accomplished designer and real estate developer, his achievements include construction and restoration of hotels, high-rises and 18th century mansions. In 1971, he narrated the title sequence voice-over for the comedy western TV series "Alias Smith and Jones" (1971), starring Pete Duel as Hannibal Heyes/Joshua Smith and Ben Murphy as Kid Curry/Thaddeus Jones. Roger also guest-starred in one of the episodes ("Smiler with a Gun") as gunfighter Danny Bilson. His Bilson character has the distinction of being the only character Kid Curry was driven to kill during the series. When star Pete Duel committed suicide during the Christmas holiday season of 1971, Davis replaced him as Hannibal Heyes. However, after Davis completed just seventeen episodes, the series was cancelled the next season in 1973.