Create a common function for receiving a ros1 native connection header, and use it across the 4 receivers (publisher, subscriber, service_client, service_server). Fixes bug where publisher was trying to parse connection header with the overall header length still at the front.
Description
Create a common function for receiving a ros1 native connection header, and use it across the 4 receivers (publisher, subscriber, service_client, service_server). Fixes bug where publisher was trying to parse connection header with the overall header length still at the front.
Fixes
Closes: #171
Checklist