yaml over ros topic

yaml_send.py

#!/usr/bin/env python
# run the receiver:
# $ ./yaml_send.py
#
# run the transmitter:
# $ ./yaml_send.py send <myfile.yaml>
import yaml
import sys

import rospy

from std_msgs.msg import String

def receive(msg):
    parsed = yaml.load(msg.data)
    print parsed

def send(yamlfile):
    pub = rospy.Publisher('yaml', String, queue_size=1)
    rospy.sleep(1.0)
    with open(yamlfile) as f:
        msg = String(f.read())
        pub.publish(msg)
    rospy.sleep(1.0)

if __name__=="__main__":
    if len(sys.argv)==1:
        rospy.init_node('yaml_receiver')
        sub = rospy.Subscriber('yaml', String, receive)
        rospy.spin()
    elif sys.argv[1] == 'send':
        rospy.init_node('yaml_sender')
        send(sys.argv[2])