--Restructured consumer() and sensors_send_data() (on rover) and rover_server_recv_and_print() (on seykhl) to have consumer send buffer when it gets to be >= .9*max, and use the msg_count at that time to compute number of bytes to send.  Now sensors_send_data() takes the buffer and the num_messages int as arguments, and then sends the int first, then the buffer itself.  On the receive side, rover_server_recv_and_print() receives the int and then uses it to set the number of bytes to receive.  All appears to be working normally, no 'buffer full' error messages seen.