Hi, Sorry for replying an old message. But I am also interested in multidimensional numpy array msg. My proposal is to initialize the layout of a *MultiArray msg from the incoming numpy.ndarray information. Take Float32MultiArray for an example, the current method of numpy_serialization in Float32MultiArray.numpy_serialization leaves the layout untouched. And in the numpy_msg tutorial, the layout seems to be None through out the example, which seems awkward. Therefore, I propose to initialize the layout size and stride using the buff when layout is None. This can be done with a numpy specific __init__() or just add few lines into numpy_serialization()). Similarly, in the Float32MultiArray.numpy_deserialization, reshape the array according to the layout information. This shouldn't break cross-language compatibility as the lowlevel data is still transferred using the "tostring()" mechanism as 1D arrays but makes the numpy users' life much easier. -Tingfan PhD Student Machine Perception Laboratory UC San Diego On Mon, Jun 14, 2010 at 3:27 PM, Ken Conley wrote: > The ROS msg IDL only supports 1D arrays. The reshape approach is the correct > approach to ensure compatibility in multiple languages. > >  - Ken > > On Mon, Jun 14, 2010 at 3:23 PM, Floris van Breugel > wrote: >> >> Hi folks, >> >> Is there a way to publish 2D numpy arrays as messages (using python)? I >> went through the numpy tutorial for rospy but it seems to only work for 1D >> arrays. I suppose one could reshape the 2D array to be 1D, and pass the >> shape as another message, and then reconstruct it on the other side, but >> maybe there's a more efficient way to do it? Or that functionality could be >> added to numpy_msg.py? >> http://www.ros.org/wiki/rospy_tutorials/Tutorials/numpy >> >> Thanks! >> >> - Floris >> >> >> >> -- >> Floris van Breugel >> Caltech Graduate Student >> Control and Dynamical Systems >> (925) 963 8280 >> >> Wildlife and Landscape Photographer >> Galleries: http://www.ArtInNaturePhotography.com/ >> Blog: http://www.ArtInNaturePhotography.com/wordpress/ >> 2010 CALENDARS! Now available on my website! >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >