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Found a possible solution: pydoc.locate is able to import datatypes based on string descriptors. Most of the basic datatypes in the messages are actually numpy types. Hence, t = locate("numpy."+t) solves most of the problems. string has to be shortened to str and char doesn't exist and has to be replaced by str as well but the rest matches quite well. By just removing [] like t = t.replace("[]","") in case of arrays you can find the type they are supposed to contain.

Still grateful for any other comments or possible solutions though. Just thought I'd share my findings ;)