ROSJava takes a special version of XmlRpcServer with bugfixes. I have added to that by replacing ThreadPool with a ThreadPoolManager singleton that uses java.util.concurrent Executors as intended by modern standards. Thread management is much better and I can see a much faster spinup of the Master and Slave servers. There also seem to be less NPE's but I also refactored ROSJava to do better checks on collection members so nulls are accounted for in 'equals' and 'hashCode' methods. Anyway, onward and upward. New link is to the left.