Is there any way for the receiver of a message to know who sent the message? I looked through the generated header file for a message and I didn't see any meta data like this. But I believe the core should know it on some level, and it would be great to have this info. Thanks, -Ben Ben Axelrod Research Scientist iRobot Corporation 8 Crosby Drive, Mail Stop 8-1 Bedford, MA 01730 (781) 430-3315 (Tel) (781) 960-2628 (Fax) baxelrod@irobot.com