Rospy service with numpy array message

asked 2021-02-17 09:28:43 -0500

7Z0nE gravatar image

During implementation of a service that responds with a large array (> 100000 values) I noticed that it takes a long time to create a numpy array from the ros message tuple. Rospy already has a solution for that considering basic messaged: Unfortunately I could not find any documentation whether this can be applied to services the same way. Further research leaves me with the conclusion that this is currently not supported. Can somebody confirm this assumption? Also, what would be the best solution to build something similar myself? Designing my own message type with my own serializer or implement my own service api on top of basic ROS publish/subscribe patterns.

Thanks for any help in advance!

Kind regards Fred

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