+#define ROUTEROS_API_PORT "8728"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct ros_connection_s;
+typedef struct ros_connection_s ros_connection_t;
+
+struct ros_reply_s;
+typedef struct ros_reply_s ros_reply_t;
+
+typedef int (*ros_reply_handler_t) (ros_connection_t *c, const ros_reply_t *r,