Hi!
I am trying to understand how ROS communication works and possibly write
C library to access master node etc. I dislike python and c++ somewhat.
I have found wiki page
http://www.ros.org/wiki/ROS/TCPROS and not much
more about exact details how ROS communicates. I do not complain, ROS is
not end user product and documentation never will be complete there. So
I launched roscore and
sudo tcpdump -i lo port 11311 -w - > tmp
to get fast view on it. But what is weird, in dump I see only HTTP
headers and first line of XML in plaintext. Can someone point me to some
wiki page or source file explaining method or compression or other
reason for this? What I see now:
tonu@hp:~$ rosservice list
/rosout/get_loggers
/rosout/set_logger_level
tonu@hp:~$
tonu@hp:~/ros$ strings tmp
a,/+
a,/+
a,/+
POST /RPC2 HTTP/1.0
Hosn
a,/+
<?xml version='1.0'?>
HTTP/1.0 200 OK
a,/+
Server: BaseHTTP/0.3 Pytn
a,/+
Date: Sat, 02 Apr 2011 0n
a,/+
Content-type: text/xml
a,/+
Content-length: 1112
a,/+
a,/+
<?xml version='1.0'?>
a,/+
a,/+
yiPOST / HTTP/1.1
User-Ag
,/@|
fJ@|
,/@|
,/@|
7POST / HTTP/1.1
User-Ag
fK@|
fK@|
7HTTP/1.0 200 OK
,/@|
f\@|
7Server: BaseHTTP/0.3 Pyt
,/@|
7Date: Sat, 02 Apr 2011 0
,/@|
7Content-type: text/xml
,/@|
7Content-length: 278
,/@|
,/@|
7<?xml version='1.0'?>
,/@|
,/@|
7POST / HTTP/1.1
User-Ag
<|K@
,/@|
4|L@
,/@|
,/@|
8POST / HTTP/1.1
User-Ag
8HTTP/1.0 200 OK
4|N@
,/@|
8Server: BaseHTTP/0.3 Pyt
4|O@
,/@|
8Date: Sat, 02 Apr 2011 0
4|P@
,/@|
8Content-type: text/xml
4|Q@
,/@|
8Content-length: 274
4|R@
,/@|
4|S@
,/@|
8<?xml version='1.0'?>
4|T@
,/@|
,/@|
8POST / HTTP/1.1
User-Ag
;POST / HTTP/1.1
User-Ag
;HTTP/1.0 200 OK
<Server: BaseHTTP/0.3 Pyt
<Date: Sat, 02 Apr 2011 0
<Content-type: text/xml
<Content-length: 286
<<?xml version='1.0'?>
<POST / HTTP/1.1
User-Ag
<POST / HTTP/1.1
User-Ag
<HTTP/1.0 200 OK
<Server: BaseHTTP/0.3 Pyt
<Date: Sat, 02 Apr 2011 0
<Content-type: text/xml
<Content-length: 291
<<?xml version='1.0'?>
tonu@hp:~/ros$
Tõnu
(text/plain)