From OpenRAVE

Binding Sensors to OpenRAVE/ROS

openrave_sensors contains a ROSSensorPublisher problem, which can be used to publish all sensor data.

An example of launching a simple openrave file, loading the problem, and opening the ros viewer can be executed with:

roslaunch openrave_sensors wamscene.launch.xml

This opens the test/wamscene.env.xml file. Note how the probleminstance is loaded inside the environment file:

<environment>
  ...
  <probleminstance type="ROSSensorPublisher">
    <sendcommand>registerrobot robot BarrettWAM namespace wam</sendcommand>
  </probleminstance>
</environment>