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You're almost there, but there is a difference between how rosserial constructs vectors to the rest of ROS. rosserial doesn't use std::vector objects, the overhead is too high for the embedded platform so they use simple C pointer and length arrays in instead.

So in your case you need to set the data member as you have but you also need to set the data_length member to 2 in this case. This is explained here.

Hope this helps.