From a5180dcf7821feeb5f66a7481380aee8aa394dd3 Mon Sep 17 00:00:00 2001
From: TobinHall <45376386+TobinHall@users.noreply.github.com>
Date: Wed, 16 Jun 2021 03:44:53 +1200
Subject: [PATCH] Fixing message size issue. (#516)

---
 rosserial_server/include/rosserial_server/session.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/rosserial_server/include/rosserial_server/session.h b/rosserial_server/include/rosserial_server/session.h
index c03377347..36925a8fb 100644
--- a/rosserial_server/include/rosserial_server/session.h
+++ b/rosserial_server/include/rosserial_server/session.h
@@ -243,7 +243,9 @@ class Session : boost::noncopyable
     } else {
       if (callbacks_.count(topic_id) == 1) {
         try {
-          callbacks_[topic_id](stream);
+          // stream includes the check sum byte. 
+          ros::serialization::IStream msg_stream(stream.getData(), stream.getLength()-1);
+          callbacks_[topic_id](msg_stream);
         } catch(ros::serialization::StreamOverrunException e) {
           if (topic_id < 100) {
             ROS_ERROR("Buffer overrun when attempting to parse setup message.");