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some reconstruction accorting to protocol - #4

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ZhuoyueLi wants to merge 1 commit into
intuitive-robots:mainfrom
ZhuoyueLi:main
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some reconstruction accorting to protocol#4
ZhuoyueLi wants to merge 1 commit into
intuitive-robots:mainfrom
ZhuoyueLi:main

restruct the msgid, mode_id, message_header according to new protocol…

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