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Well, the error says it all: two dimensional arrays are currently not supported.
I see two possibilities:
MultiArray
message types in std_msgs
.create your service similar to what e.g. sensor_msgs/Image
is doing, by having a 1D array for the data and an additional parameter for the length of a row, i.e.
int32 a
---
uint32 step # Full row length in bytes
uint32[] data # actual matrix data, size is (step * rows)