netlink sockets and NETFILTER_FIREWALL

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Hello,
I saw that there is a way to pass packets to user space by this
iptables rule (on Linux):

iptables -A FORWARD -t filter -j QUEUE
and running:
modprobe iptable_filter
modprobe ip_queue


My question is: I want to open a user space application
which opens socket and catch these packets.
Is there some good link demonstrating how to do it ?
I saw some sites which talk about NETFILTER_FIREWALL and netlink sockets, but
I am not sure. Any ideas?

Rgs,
Mark
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