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I had to deal with similar situation in my project where I had to communicate data back and forth between ROS and iOS app. The approach that I found the easiest was to create a TCP server-client application using Python. You can develop a ROS node which is also a TCP server (I used twisted protocol of python for this (you can refer to (http://twistedmatrix.com/trac/)). This server, being a ROS node can have access to all the ROS parameters. You can then create a TCP client in python which can then receive the information (which could be any message or ROS parameters which you would like to transfer) from the TCP server.
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