Is the byte-format of ROS messages documented anywhere? [closed]
I'm a bit new to the ROS framework, but I'm really enjoying what I've seen so far. One thing I'd like to know is if the byte format for individual messages is documented anywhere? I realize that the format is essentially doing a simple serialization of the low-level data types, but I'd be interested in having a little understanding about how the individual messages are formatted across the wire.
I have some plans for doing a little experimentation to do a little reverse engineering if necessary, but I figure if it's documented somewhere it would save me a lot of work.
Thanks.
Thank you. These resources are somewhat helpful. However, the Wireshark tool doesn't seem to be working with Melodic? At least, I can't seem to capture any packets with it. Just filtering on
tcpros.messageyields no messages, even though I see my messages coming across withrostopic echo.The dissector is not release-specific, as the (de)serialisation hasn't changed since almost forever. You could however be capturing on the wrong interface. Try
lo.Ah, found it. The problem was that TCPROS was not an "enabled protocol" in the Wireshark options. I enabled it in the "Analyze -> Enabled Protocols" dialog and now I see them. Thanks!