diff --git a/CHANGELOG.md b/CHANGELOG.md
index ee9f0fe..aeac997 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -26,6 +26,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Fixed
 
 - Generated code now includes various lint attributes to suppress warnings.
+- TCPROS header parsing now ignores (the undocumented fields) response_type and request_type and doesn't produce warnings on them.
 
 ### Changed
 
diff --git a/roslibrust/src/ros1/tcpros.rs b/roslibrust/src/ros1/tcpros.rs
index 6307760..e78d897 100644
--- a/roslibrust/src/ros1/tcpros.rs
+++ b/roslibrust/src/ros1/tcpros.rs
@@ -86,6 +86,10 @@ impl ConnectionHeader {
                 // for the purpose of discovering the service type
                 // If you do `rosservice call /my_service` and hit TAB you'll see this field in the connection header
                 // we can ignore it
+            } else if field.starts_with("response_type=") || field.starts_with("request_type=") {
+                // More undocumented fields!
+                // Discovered in testing that some roscpp service servers will set these on service responses
+                // We can ignore em
             } else if field.starts_with("error=") {
                 log::error!("Error reported in TCPROS connection header: {field}, full header: {header_data:#?}");
             } else {