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Hi, heres a python function which will convert a ros message object into an xml representation. It needs to be modified if you want to use a message with arrays, but it'll work for nested structures just fine.

def ros2xml(msg, name, depth=0):
xml = "";
tabs = "\t"*depth

if hasattr(msg, "_type"):
    type = msg._type
    xml = xml + tabs + "<" + name + " type=\"" + type + "\">\n"

    try:
        for slot in msg.__slots__:
            xml = xml + ros2xml(getattr(msg, slot), slot, depth=depth+1)
    except:
        xml = xml + tabs + str(msg)
    xml = xml + tabs + "</" + name + ">\n"
else:
    xml = xml + tabs + "<" + name + ">" + str(msg) + "</" + name + ">\n"
return xml