Since Python is required to write plugins for ST2, you cannot connect to https://github.com/cldwalker/debugger/blob/master/bin/rdebug and just start learning its API to do your stuff.
But you can make popen (see http://docs.python.org/library/subprocess.html#module-subprocess ) in the debugger executable and put it as if you were doing it normally. It is not very elegant, but I am afraid that the only solution is available, since you are blocked with Python.
From there, I will probably write a python api to handle basic operations programmatically, for example, the following pseudocode:
class RubyDebugger:
def __init__(self, debugger_path):
self.debugger = os.popen ...
def breakpoint(self, file, line_number)
self.debugger.write "breakpoint " + file + ":" + line_number
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