How do I numpy-ize a Service node or a Client node to manage Request or Response containing numpy array ?

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The numpy serialization/deserialization stubs has been generated in the corresponding PKG.srv.*; So one can probably override the default serialize() deserialize() in the same manner as numpy_msg does. Take the rospy_tutorial/005_AddTwoInts for an example, You'll probably need to add these new lines:

import rospy.numpy_msg
AddTwoInts._request_class = rospy.numpy_msg.numpy_msg(AddTwoIntsRequest)
AddTwoInts._response_class = rospy.numpy_msg.numpy_msg(AddTwoIntsResponse)
AddTwoIntsRequest = rospy.numpy_msg.numpy_msg(AddTwoIntsRequest)
AddTwoIntsResponse= rospy.numpy_msg.numpy_msg(AddTwoIntsResponse)

I haven't got a chance to test the code myself, but hope this give you some idea.