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Send a 2D array through topics in ROS2

asked 2020-10-27 15:37:39 -0600

jeferrandiz gravatar image

updated 2020-10-27 15:38:08 -0600

What is a proper way of sending 2D arrays through topics? I want to send small ones (4x6 for example) and so far I created an array msg (float64[]) and then use the .reshape function in order to send it as an unidimensional array. However, I do not know if there is a better way.

Thanks in advance for your help.

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answered 2020-10-28 01:15:31 -0600

Fetullah Atas gravatar image

Yep I think your approach is good enough. You define an one dimensional array in msg and after you receive the msg in your callback you restructure this as a 2D array. One thing I can recommend though is that you add 2 additional fields such as width and height to your msg description, and when you recive your msg you can know the correct dimensions by receiving width and height

A good use case will be to check how sensor_msgs::Image do this by something similar;

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Asked: 2020-10-27 15:37:39 -0600

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Last updated: Oct 28 '20