Hi Chad,

I've found the ROS protocol documentation generally quite decent, and
sufficient for communicating with ROS-based programs without yourself
using the ROS code base.  The original poster linked to this page:

  http://www.ros.org/wiki/ROS/Connection%20Header

which gives the basic format of the connection headers for TCPROS
connections.  It is a ROS-specific format, so I don't know of any
independent library (like xmlrpclib for XML/RPC messages) available to
parse it.  For what it is worth, there are links to C++
implementations in this thread:
  http://ros-users.122217.n3.nabble.com/Subscribe-messages-from-normal-C-code-td904564.html

Cheers,
Paul

On Thu, Jan 27, 2011 at 11:33 AM, Jenkins, Odest Chadwicke
<odest_jenkins@brown.edu> wrote:
> Is it possible to interpret the header fields without using rospy?  My
> interpretation of the original question was that xmlrpclib was being
> used outside of rospy and ROS build environment for custom code that
> can interpret ROS messaging.  Even if my interpretation is off, it
> would still be very interesting to have a description of how to write
> code for sending and interpreting valid ROS messages...  Maybe even a
> protocol specification for interoperating with ROS?  This could be
> helpful for people trying to use ROS with Windows, embedded systems,
> etc.
>
> -Chad
>
> Date: Tue, 25 Jan 2011 07:24:52 -0800
> From: Ken Conley <kwc@willowgarage.com>
> Subject: Re: [ros-users] TCPROS Header Fields
> To: User discussions <ros-users@code.ros.org>
> Message-ID:
>       <AANLkTimR6T9_KW8xkEXfJP9z4K_M_naqJcHeAdStdy+m@mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> In rospy, the subscriber can read this field using the
> _connection_header field of a message.  See bottom of:
>
> http://www.ros.org/wiki/rospy/Overview/Publishers%20and%20Subscribers
>
>  - Ken
>
> On Tue, Jan 25, 2011 at 2:41 AM, safdar_zaman <safdaraslam@yahoo.com> wrote:
>>
>> Hi all,
>> I have access and can read ROS SytemStatus through xmlrpclib. Now I want to
>> write code to read "TCPROS Header Fields" explained on
>> http://www.ros.org/wiki/ROS/Connection%20Header but I did not find any clue
>> about it :-(
>> Did any one try to read in these fields? any clue please?
>> thanks and regards,
>> --
>> View this message in context: http://ros-users.122217.n3.nabble.com/TCPROS-Header-Fields-tp2328063p2328063.html
>> Sent from the ROS-Users mailing list archive at Nabble.com.
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