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To fill the message field you shouldn't convert your numpy array to a string and then during the assignment convert the string back into an array.array (which is the type of the data fields, see http://design.ros2.org/articles/idl_interface_definition.html).

Have you tried to populate the array.array directly from the (1 dimensional?) numpy array? (Without having run the following code) something like this:

cloud_msg.data.frombytes(cloud_arr[0])