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Humble](https://img.shields.io/badge/ROS2-Humble-blue.svg)](https://docs.ros.org/en/humble/index.html)\n[![ROS2 Jazzy](https://img.shields.io/badge/ROS2-Jazzy-blue.svg)](https://docs.ros.org/en/jazzy/index.html)\n[![Python 3.10+](https://img.shields.io/badge/python-3.10+-blue.svg)](https://www.python.org/downloads/)\n[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)\n[![Document Style](https://img.shields.io/badge/%20docstyle-google-3666d6.svg)](https://google.github.io/styleguide/pyguide.html#s3.8-comments-and-docstrings)\n[![Lint \u0026 Format / Test](https://github.com/Geson-anko/numpy_ndarray_msgs/actions/workflows/main.yml/badge.svg)](https://github.com/Geson-anko/numpy_ndarray_msgs/actions/workflows/main.yml)\n\n# ROS2 NDArray Message\n\nA ROS2 package for transmitting NumPy ndarrays between ROS2 nodes.\n\n## Features\n\n- Custom ROS2 message type for numpy.ndarray\n- Bi-directional conversion between NumPy arrays and ROS2 messages\n- Multi-dimensional array support with various data types\n- Type-safe Python utilities with full type hints\n\n## Requirements\n\n- ROS2 Humble or higher\n- Python 3.10+\n\n## Installation\n\n```bash\ncd ~/ros2_ws/src\ngit clone https://github.com/Geson-anko/numpy_ndarray_msgs.git\ncd ../\ncolcon build --packages-select numpy_ndarray_msgs\nsource install/setup.sh\n```\n\n### Install Python Utility Package\n\n```bash\npip install ros2-ndarray-msg-utils\n```\n\n## Usage\n\n### Python Utility Package\n\n```python\nimport numpy as np\nfrom ndarray_msg_utils import to_ros_msg, from_ros_msg, NDArray\nfrom rclpy.clock import ROSClock\n\n# Convert NumPy array to ROS2 message\narray = np.array([[1, 2], [3, 4]], dtype=np.float32)\n\n# Type Hint\nmsg: NDArray\n\nmsg = to_ros_msg(array)\n\n# with Header\nmsg = to_ros_msg(array, timestamp=ROSClock().now(), frame_id=\"array_frame\")\n\n# Convert back to NumPy array\nrestored = from_ros_msg(msg)\n```\n\n### PyTorch Support\n\n```bash\npip install \"ros2-ndarray-msg-utils[torch]\"\n```\n\n```py\nimport torch\nfrom ndarray_msg_utils.torch import to_ros_msg, from_ros_msg\n\n# Convert PyTorch tensor to ROS2 message\ntensor = torch.tensor([[1, 2], [3, 4]], dtype=torch.float32)\nmsg = to_ros_msg(tensor)\n\n# Convert back to PyTorch tensor\nrestored = from_ros_msg(msg)\n```\n\n## License\n\nMIT License\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgeson-anko%2Fnumpy_ndarray_msgs","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgeson-anko%2Fnumpy_ndarray_msgs","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgeson-anko%2Fnumpy_ndarray_msgs/lists"}