Cool work man! As I also mainly work on ROS via Python I find your work very interesting, altho as I tend to work with teams that also code in differente languages a catkin_ws is usually needed.
You may be interested in my project: https://github.com/uts-magic-lab/message_thief
In there I made a handy function (https://github.com/uts-magic-lab/message_thief/blob/master/recreate_msgs.py#L479 ) that given a message definition (the .msg / .srv) and the package name, generates a fake package that can be compiled in a catkin_ws for any language to use that message. It also has tools to “steal” from a robot these definitions.
I gave a lightning talk about it in ROSCON: https://vimeo.com/236177042#t=20m12s (seems like the link to start at the 20m 12s mark does not work, sorry!).