diff --git a/roslibrust/src/ros1/tcpros.rs b/roslibrust/src/ros1/tcpros.rs
index 1609619..ce5b810 100644
--- a/roslibrust/src/ros1/tcpros.rs
+++ b/roslibrust/src/ros1/tcpros.rs
@@ -13,31 +13,22 @@ use super::names::Name;
 
 pub struct ConnectionHeader {
     pub caller_id: String,
-    pub latching: bool,
-    pub msg_definition: String,
+    pub latching: bool, // TODO this field should be optional and None for service clients and servers
+    pub msg_definition: String, // TODO this should be optional and None for service clients and servers
     pub md5sum: Option<String>,
     // TODO we may want to distinguish between service and topic headers with different types?
     pub service: Option<String>,
     pub topic: Option<String>,
     pub topic_type: String,
-    pub tcp_nodelay: bool,
-    // TODO service client may include "persistent" here
-    // TODO service server only has to respond with caller_id (all other fields optional)
+    pub tcp_nodelay: bool, // TODO this field should be optional and None for service clients and servers
+                           // TODO service client may include "persistent" here
+                           // TODO service server only has to respond with caller_id (all other fields optional)
 }
 
 impl ConnectionHeader {
-    /// First reads a length field for overall length of the header
-    /// Then reads the header from the following bytes
-    pub fn from_bytes_with_length(header_data: &[u8]) -> std::io::Result<ConnectionHeader> {
-        let mut cursor = Cursor::new(header_data);
-        let header_len = cursor.read_u32::<LittleEndian>()? as usize;
-        ConnectionHeader::from_bytes(&header_data[4..header_len + 4])
-    }
-
     /// Parses a connection header from a byte array
     /// This specifically expects to start at the first byte of the first field
     /// of the header and bypass the bytes representing the length of the header
-    /// if present
     pub fn from_bytes(header_data: &[u8]) -> std::io::Result<ConnectionHeader> {
         let mut cursor = Cursor::new(header_data);
 
@@ -156,6 +147,7 @@ impl ConnectionHeader {
         header_data.write_u32::<LittleEndian>(topic_type.len() as u32)?;
         header_data.write(topic_type.as_bytes())?;
 
+        // Now that we know the length, stick its value in the first 4 bytes
         let total_length = (header_data.len() - 4) as u32;
         for (idx, byte) in total_length.to_le_bytes().iter().enumerate() {
             header_data[idx] = *byte;
@@ -233,23 +225,22 @@ mod test {
     #[test_log::test]
     fn ros_example_header() {
         let bytes: Vec<u8> = vec![
-            0xb0, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x6d, 0x65, 0x73, 0x73, 0x61, 0x67,
-            0x65, 0x5f, 0x64, 0x65, 0x66, 0x69, 0x6e, 0x69, 0x74, 0x69, 0x6f, 0x6e, 0x3d, 0x73,
-            0x74, 0x72, 0x69, 0x6e, 0x67, 0x20, 0x64, 0x61, 0x74, 0x61, 0x0a, 0x0a, 0x25, 0x00,
-            0x00, 0x00, 0x63, 0x61, 0x6c, 0x6c, 0x65, 0x72, 0x69, 0x64, 0x3d, 0x2f, 0x72, 0x6f,
-            0x73, 0x74, 0x6f, 0x70, 0x69, 0x63, 0x5f, 0x34, 0x37, 0x36, 0x37, 0x5f, 0x31, 0x33,
-            0x31, 0x36, 0x39, 0x31, 0x32, 0x37, 0x34, 0x31, 0x35, 0x35, 0x37, 0x0a, 0x00, 0x00,
-            0x00, 0x6c, 0x61, 0x74, 0x63, 0x68, 0x69, 0x6e, 0x67, 0x3d, 0x31, 0x27, 0x00, 0x00,
-            0x00, 0x6d, 0x64, 0x35, 0x73, 0x75, 0x6d, 0x3d, 0x39, 0x39, 0x32, 0x63, 0x65, 0x38,
-            0x61, 0x31, 0x36, 0x38, 0x37, 0x63, 0x65, 0x63, 0x38, 0x63, 0x38, 0x62, 0x64, 0x38,
-            0x38, 0x33, 0x65, 0x63, 0x37, 0x33, 0x63, 0x61, 0x34, 0x31, 0x64, 0x31, 0x0e, 0x00,
-            0x00, 0x00, 0x74, 0x6f, 0x70, 0x69, 0x63, 0x3d, 0x2f, 0x63, 0x68, 0x61, 0x74, 0x74,
-            0x65, 0x72, 0x14, 0x00, 0x00, 0x00, 0x74, 0x79, 0x70, 0x65, 0x3d, 0x73, 0x74, 0x64,
-            0x5f, 0x6d, 0x73, 0x67, 0x73, 0x2f, 0x53, 0x74, 0x72, 0x69, 0x6e, 0x67, 0x09, 0x00,
-            0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x68, 0x65, 0x6c, 0x6c, 0x6f,
+            0x20, 0x00, 0x00, 0x00, 0x6d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x5f, 0x64, 0x65,
+            0x66, 0x69, 0x6e, 0x69, 0x74, 0x69, 0x6f, 0x6e, 0x3d, 0x73, 0x74, 0x72, 0x69, 0x6e,
+            0x67, 0x20, 0x64, 0x61, 0x74, 0x61, 0x0a, 0x0a, 0x25, 0x00, 0x00, 0x00, 0x63, 0x61,
+            0x6c, 0x6c, 0x65, 0x72, 0x69, 0x64, 0x3d, 0x2f, 0x72, 0x6f, 0x73, 0x74, 0x6f, 0x70,
+            0x69, 0x63, 0x5f, 0x34, 0x37, 0x36, 0x37, 0x5f, 0x31, 0x33, 0x31, 0x36, 0x39, 0x31,
+            0x32, 0x37, 0x34, 0x31, 0x35, 0x35, 0x37, 0x0a, 0x00, 0x00, 0x00, 0x6c, 0x61, 0x74,
+            0x63, 0x68, 0x69, 0x6e, 0x67, 0x3d, 0x31, 0x27, 0x00, 0x00, 0x00, 0x6d, 0x64, 0x35,
+            0x73, 0x75, 0x6d, 0x3d, 0x39, 0x39, 0x32, 0x63, 0x65, 0x38, 0x61, 0x31, 0x36, 0x38,
+            0x37, 0x63, 0x65, 0x63, 0x38, 0x63, 0x38, 0x62, 0x64, 0x38, 0x38, 0x33, 0x65, 0x63,
+            0x37, 0x33, 0x63, 0x61, 0x34, 0x31, 0x64, 0x31, 0x0e, 0x00, 0x00, 0x00, 0x74, 0x6f,
+            0x70, 0x69, 0x63, 0x3d, 0x2f, 0x63, 0x68, 0x61, 0x74, 0x74, 0x65, 0x72, 0x14, 0x00,
+            0x00, 0x00, 0x74, 0x79, 0x70, 0x65, 0x3d, 0x73, 0x74, 0x64, 0x5f, 0x6d, 0x73, 0x67,
+            0x73, 0x2f, 0x53, 0x74, 0x72, 0x69, 0x6e, 0x67,
         ];
 
-        let header = ConnectionHeader::from_bytes_with_length(&bytes).unwrap();
+        let header = ConnectionHeader::from_bytes(&bytes).unwrap();
         assert_eq!(header.msg_definition, "string data\n\n");
         assert_eq!(header.caller_id, "/rostopic_4767_1316912741557");
         assert_eq!(header.latching, true);