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The framework is called ROS. ;) More specifically you only need the appropriate client library, e.g., roscpp running, but not any of the tools like rviz, etc. The client library implements exactly what you need, handling out messages, serializing, etc. For whatever your system supports, you should look for a ROS client library.

If none of what is implemented as part of ROS works for you, you can still implement that yourself on the network directly. There is documentation, but this is probably not necessary for most languages.