I have written a ROS python package which provides a bridge to the OpenHAB home automation system (open source license)

OpenHAB is an open source system that connects to virtually any intelligent device, such as smoke detectors, motion detectors, temperature sensors, security systems, TV/audio, fingerprint scanners, lighting, 1-Wire, Wemo, CUPS, DMX, KNX, openpaths, Bluetooth, MQTT, Z-Wave, telephony, Insteon, weather sensors, as well as web services such as Twitter, Weather, etc. ROS also provides a basic Web GUI and Iphone/Android app for setting and dynamically viewing values. openhab.org/features

Give your robot knowledge of the wider world

Use Cases:

A motion detector in OpenHAB triggers and ROS dispatches the robot to the location.
ROS facial recognition recognizes a face at the door and OpenHAB unlocks the door.
A Washing Machine indicates to OpenHAB that the load is complete
and ROS dispatches a robot to move
the laundry to the dryer.
OpenHAB MQTT binding indicates that Sarah will be home soon and a sensor indicates that the temperature is hot. ROS dispatches the robot to bring Sarah's favorite beer. OpenHAB turns on her favorite rock music and lowers the house temperature.
A user clicks on the OpenHAB GUI on an IPAD and selects a new room location for the robot. The message is forwarded by the openhab_bridge to ROS and ROS dispatches the robot.

With the openhab_bridge, virtually any home automation device can be easily setup to publish updates to the openhab_updates topic in ROS, giving a ROS robot knowledge of any Home Automation device as well as a number of web services. ROS can publish to the openhab_set topic (or openhab_command) and the device in OpenHAB will be set to the new value (or act on the specified command).

To download and for more information:

wiki.ros.org/openhab_bridge