Learning ROS: Using a C++ class in Python

http://wiki.ros.org/ROS/Tutorials/Using%20a%20C%2B%2B%20class%20in%20Python

This tutorial illustrates a way to use a C++ class with ROS messages in Python. The Boost Python library is used. The difficulty is to translate Python objects of ROS messages written in pure Python into equivalent C++ instances. This translation will be done through serialization/deserialization.

Because roscpp is not initialized when calling rospy.init_node. ros::NodeHandle instances cannot be used in the C++ class without generating an error. If the C++ does not make use of ros::NodeHandle, this is no issue though.