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If your node is just listening in on topics, you're going to have to know the type of message to expect on that topic, which we will generically call Type. Then you could add some parsing to the .msg file that would tell you the format of the messages. However, with ROS's support for nested types in messages, that could get really complex, and with the bandwidth limitations of acoustic modems the additional information that you would have to encode in every message to handle this generically would be a killer. Which modems are you using? Are you writing the driver, or do you have a lower-level driver you are using?
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