diff --git a/include/dynamic_graph_bridge/ros_interpreter.hh b/include/dynamic_graph_bridge/ros_interpreter.hh
index ed6173e8fbba0c7d6059e2d1223c8f890c76ef6c..271562cb40b8fc53c51fe9bb3755b03ed5a89b0f 100644
--- a/include/dynamic_graph_bridge/ros_interpreter.hh
+++ b/include/dynamic_graph_bridge/ros_interpreter.hh
@@ -23,6 +23,9 @@ namespace dynamicgraph
 
     explicit Interpreter (ros::NodeHandle& nodeHandle);
 
+    /// \brief Run a command and return result.
+    std::string runCommand (const std::string& command);
+
   protected:
     /// \brief Run a Python command and return result, stderr and stdout.
     bool runCommandCallback (dynamic_graph_bridge::RunCommand::Request& req,
diff --git a/src/ros_interpreter.cpp b/src/ros_interpreter.cpp
index fac3a751d0686b44a615840d57f39d648dd88a4a..d9a4ca9ceb008a53d505a6b670e7ceaf263d29ab 100644
--- a/src/ros_interpreter.cpp
+++ b/src/ros_interpreter.cpp
@@ -17,11 +17,19 @@ namespace dynamicgraph
   }
 
   bool
-  Interpreter::runCommandCallback(dynamic_graph_bridge::RunCommand::Request& req,
-				  dynamic_graph_bridge::RunCommand::Response& res)
+  Interpreter::runCommandCallback
+  (dynamic_graph_bridge::RunCommand::Request& req,
+   dynamic_graph_bridge::RunCommand::Response& res)
   {
     interpreter_.python(req.input, res.result, res.stdout, res.stderr);
     return true;
   }
+
+  std::string
+  Interpreter::runCommand
+  (const std::string& command)
+  {
+    return interpreter_.python(command);
+  }
 } // end of namespace dynamicgraph.