  Writing software for controlling robots is a complex task, usually demanding
command of many programming languages and requiring significant
experimentation. We believe that a bottom-up development process that
complements traditional component- and MDSD-based approaches can facilitate
experimentation. We propose the use of an internal DSL providing both a tool to
interactively create ROS nodes and a behaviour-replacement mechanism to
interactively reshape existing ROS nodes by wrapping the external interfaces
(the publish/subscribe topics), dynamically controlled using the Python command
line interface.
