TCP接收数据转ROS Float64MultiArray时遇JSON序列化错误求助

错误核心原因有两个：

1. 消息类型不匹配：话题/chatter声明的类型是std_msgs/Float64MultiArray，但代码中创建了Int32MultiArray对象，类型完全不符。
2. 序列化方式错误：roslibpy通过JSON与rosbridge通信，仅支持原生Python数据结构（列表、字典等）的序列化，无法直接处理rospy的消息对象（比如Int32MultiArray实例）。

1. 统一消息类型：将处理后的数据转换为浮点型列表，匹配Float64MultiArray的类型要求。
2. 用原生数据结构构建消息：直接用Python列表作为data字段的值传入roslibpy.Message，不需要创建rospy的消息对象。

替换原代码中从pos_arry = pos_arry.tolist()到talker.publish(...)的部分：

pos_arry = np.unique([x_val,y_val,z_val])
pos_arry = pos_arry.tolist()
# 将整数列表转换为浮点型列表，匹配Float64MultiArray类型
pos_arry_float = [float(val) for val in pos_arry]
# 直接用原生列表构建roslibpy可序列化的消息
talker.publish(roslibpy.Message({'data': pos_arry_float}))
print('Sending message...')

import roslibpy
import socket
import numpy as np
import json

# ROS Python Bridge 
client = roslibpy.Ros(host='localhost', port=9090)  # same as rosbridge port
client.run()
print("Is ROS connected? ", client.is_connected)

talker = roslibpy.Topic(client, '/chatter', 'std_msgs/Float64MultiArray')

HOST = "0.0.0.0"  # Standard loopback interface address (localhost)
PORT = 8081  # Port to listen on (non-privileged ports are > 1023)

with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
    s.bind((HOST, PORT))
    while True:
        s.listen()
        conn, addr = s.accept()
        with conn:
            print(f"Connected by {addr}")
            while client.is_connected:
                data = conn.recv(1024)
                if not data:
                    break
                conn.sendall(data)

                data = json.loads(data)
                data_list = data[0]
               
                x_val = data_list['x']
                y_val = data_list['y']
                z_val = data_list['z']

                pos_arry = np.unique([x_val,y_val,z_val])
                pos_arry = pos_arry.tolist()
                # 转换为浮点型列表
                pos_arry_float = [float(val) for val in pos_arry]
                # 发布符合格式的消息
                talker.publish(roslibpy.Message({'data': pos_arry_float}))
                print('Sending message...')
                  
talker.unadvertise()
client.terminate()

内容的提问来源于stack exchange，提问作者Ankit Kumar