Getting msg fields

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I have a question regarding a ROSbridge connection to a web interface. I would like for the server to dynamically discover the fields that a message contains. Is there any command like this in roslib? So if I have a message like so:

Headers :

int id: #number

String name: #name

double: position: #position

I would like to receive out either [int, String, double] or [id, name, position], or better yet, both.

Any ideas how I can do this?