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AFAIK there's not easy way. (But someone more knowledgeable than I might know)

"[H]ow can I easily parse ros messages in python to know all the names, values and types in a somewhat dynamic way."

You should probably be able to follow the code path of deserialize. Since deserialze needs to do all the things you're doing, you should (<-dangerous word here) be able to use the same way to get what you want.