ROS2 NDArray Message

A ROS2 package for transmitting NumPy ndarrays between ROS2 nodes.

Features

• Custom ROS2 message type for numpy.ndarray
• Bi-directional conversion between NumPy arrays and ROS2 messages
• Multi-dimensional array support with various data types
• Type-safe Python utilities with full type hints

Requirements

• ROS2 Humble or higher
• Python 3.10+

Installation

cd ~/ros2_ws/src
git clone https://github.com/Geson-anko/numpy_ndarray_msgs.git
cd ../
colcon build --packages-select numpy_ndarray_msgs
source install/setup.sh

Install Python Utility Package

pip install ros2-ndarray-msg-utils

Usage

Python Utility Package

import numpy as np
from ndarray_msg_utils import to_ros_msg, from_ros_msg, NDArray
from rclpy.clock import ROSClock

# Convert NumPy array to ROS2 message
array = np.array([[1, 2], [3, 4]], dtype=np.float32)

# Type Hint
msg: NDArray

msg = to_ros_msg(array)

# with Header
msg = to_ros_msg(array, timestamp=ROSClock().now(), frame_id="array_frame")

# Convert back to NumPy array
restored = from_ros_msg(msg)

PyTorch Support

pip install "ros2-ndarray-msg-utils[torch]"

import torch
from ndarray_msg_utils.torch import to_ros_msg, from_ros_msg

# Convert PyTorch tensor to ROS2 message
tensor = torch.tensor([[1, 2], [3, 4]], dtype=torch.float32)
msg = to_ros_msg(tensor)

# Convert back to PyTorch tensor
restored = from_ros_msg(msg)

License

MIT License