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/usr/share/doc/r-cran-rcurl/examples/soap.S is in r-cran-rcurl 1.95-4.7-1.

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body = '<?xml version="1.0" encoding="UTF-8"?>\
<SOAP-ENV:Envelope SOAP-ENV:encodingStyle="http://schemas.xmlsoap.org/soap/encoding/" \
                   xmlns:SOAP-ENV="http://schemas.xmlsoap.org/soap/envelope/" \
                   xmlns:xsd="http://www.w3.org/1999/XMLSchema" \
                   xmlns:SOAP-ENC="http://schemas.xmlsoap.org/soap/encoding/" \
                   xmlns:xsi="http://www.w3.org/1999/XMLSchema-instance">\
  <SOAP-ENV:Body>\
       <namesp1:hi xmlns:namesp1="http://www.soaplite.com/Demo"/>\
  </SOAP-ENV:Body>\
</SOAP-ENV:Envelope>\n'


curlPerform(url="http://services.soaplite.com/hibye.cgi",
            httpheader=c(Accept="text/xml", Accept="multipart/*",
                         SOAPAction='"http://www.soaplite.com/Demo#hi"',
                         'Content-Type' = "text/xml; charset=utf-8"),
            postfields=body,
            verbose = TRUE
            )