Interesting stuff !
Thinking about your TODO for instant connection to a robot, it looks like you got the "discovering" messages part working already there, and you could use a similar trick than rosimport to import the messages in your code (instead of generating a workspace)
You might want to have a look at
https://github.com/pyros-dev/rosimport/blob/master/rosimport/_ros_generator.py
Maybe there are some parts we could factor out, or maybe patch or standardise some kind of API in genpy and genmsg via a REP, to enable this kind of dynamic tools...
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