From what I have gathered, you can keep them together if the cichlids aren't overly agressive, and you will most likely need a feeding tube of some sort. Cichlids are aggressive eaters, while bichirs aren't for the most part.
I've kept bichirs with some extremely aggressive cichlids like red terrors, red devils, jags, green terrors, jack dempseys, texas etc. in most cases it will be best not to ever feed the cichlids worms so that they won't mistake the bichirs for a treat, and also I'd start them out with cichlids as small as possible, but large enough that the bichir won't be able to eat them. also, I think it will work best if you have at least 2-3 cichlids in the tank so if there are any shows of aggression it will be between the cichlids. ime, if you have 2 or more cichlids in a tank then they will generally ignore any other non-territorial fish.