anchor.diff:        (error 'malformed-tcpros-header :msg (format nil "Could not find key ~a in ~a" key l)))
       (cdr pair)))
   
  -
  -(defun format-md5 (md5)
  -  (format nil "~32,'0x" md5))
  
positive.code:             ;; Send header and receive response
              (send-tcpros-header str 
                                  "topic" topic 
                                  "md5sum" (string-downcase (format-md5 (md5sum topic))) 
                                  "type" (ros-datatype topic)
                                  "callerid" (caller-id))
              (let ((response (parse-tcpros-header str)))
  
negative.code:   (mvbind (str socket) (tcp-connect hostname port)
      (unwind-protect
           (progn
             (send-tcpros-header str "service" service-name "md5sum" (md5sum (class-name (class-of req))) 
                                 "callerid" (caller-id))
             (parse-tcpros-header str)
             (tcpros-write req str)
  