Are there any examples that demonstrate using Java and Jersey to perform Client<->Server communication? Such as sending XML data to and from each other?
I would suggest this tutorial from Lars Vogel
It's great place to start with exploring Java Restful, with the use of Tomcat and Jersey. With small remark that not everything there is cohirant- you should try to do some of the work yourself.
Furthermore I had trouble myself working with it, but I found this great extension to the Vogel's tutorial.
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