https://github.com/geson-anko/numpy_ndarray_msgs

A ROS2 package for transmitting NumPy ndarrays between ROS2 nodes.
https://github.com/geson-anko/numpy_ndarray_msgs

messaging numpy python ros2

Last synced: 6 months ago
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A ROS2 package for transmitting NumPy ndarrays between ROS2 nodes.

• Host: GitHub
• URL: https://github.com/geson-anko/numpy_ndarray_msgs
• Owner: Geson-anko
• License: mit
• Created: 2025-02-21T00:36:50.000Z (11 months ago)
• Default Branch: main
• Last Pushed: 2025-03-27T00:54:21.000Z (10 months ago)
• Last Synced: 2025-07-01T07:05:25.488Z (7 months ago)
• Topics: messaging, numpy, python, ros2
• Language: Python
• Homepage: https://qiita.com/GesonAnko/items/eca54b971685bd15a189
• Size: 107 KB
• Stars: 1
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE

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# 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

```bash

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

```bash

pip install ros2-ndarray-msg-utils

```

## Usage

### Python Utility Package

```python

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

```bash

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

```

```py

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