$ sudo apt install ros-kinetic-ros-wild

$ cd /path/to/your/catkin_ws/src/
$ git clone https://github.com/yuma-m/ros_wild.git
$ cd ../
$ catkin_make

$ rosrun ros_wild echo ".*_sensor"
---
topic: /ultrasound_sensor
type: sensor_msgs/Range

header:
  seq: 1
  stamp:
    secs: 1478776655
    nsecs:    143582
  frame_id: ultrasound_sensor
radiation_type: 0
field_of_view: 0.569999992847
min_range: 0.20000000298
max_range: 3.0
range: 0.600000023842
---
topic: /infrared_sensor
type: sensor_msgs/Range

header:
  seq: 2
  stamp:
    secs: 1478776656
    nsecs:    998511
  frame_id: infrared_sensor
radiation_type: 1
field_of_view: 0.00999999977648
min_range: 0.00999999977648
max_range: 1.0
range: 0.20000000298

>>> from ros_wild import Subscriber

# subscribe to all Log topics
>>> sub = Subscriber(r"/rosout.*")
>>> sub.subscribed_topics
['/rosout', '/rosout_agg']

# unsubscribe from all topics
>>> sub.unregister_all()
>>> sub.subscribed_topics
[]

# resubscribe to topics
>>> sub.reload_topics()
>>> sub.subscribed_topics
['/rosout', '/rosout_agg']

>>> from ros_wild import Subscriber
>>> from std_msgs.msg import Bool, String

>>> def callback_bool(msg):
>>>     print("bool is {}".format(msg.data))

>>> def callback_string(msg):
>>>     print("string is {}".format(msg.data))

# subscribe without callback
>>> sub = Subscriber(r".+")
>>> print("Subscribed topics are {}".format(sub.subscribed_topics))
Subscribed topics are ['/bool/01', '/rosout', 'rosout_agg', '/string/01']

# register callback
>>> sub.register_callback(Bool, callback_bool)
>>> sub.register_callback(String, callback_string)
>>> print("Topics with callback are {}".format(sub.topics_with_callback))
Topics with callaback are ['/bool/01', '/strings/01']

>>> import rospy
>>> from ros_wild import Publisher
>>> from rosgraph_msgs.msg import Log

# publish to all topics
>>> rospy.init_node("test")
>>> pub = Publisher(".*", queue_size=1)
>>> pub.published_topics
['/rosout', '/rosout_agg', '/tf', ... ]
>>> pub.publish(Log(msg="this is test message"))