[ROS Q&A] 045 - Publish and subscribe array of vector as message

Check the full answer here: http://www.theconstructsim.com/ros-qa-045-publish-subscribe-array-vector-message/

▸ Question of the video: Hi all, I am trying to send an array of vector points from one node to another node as a message. The message contains this array and other message fields as well.

My cpp file has the following array vector:

Vector Point distancePoints[11];
The above array of vector is the one I need to publish and subscribe.

For example, distancePoints[0] contains vector Point from distance 1m and so on. Point contains x and y coordinates. Point is an opencv 2D point class.

Is it possible to publish and receive such array of vector using ROS messages? Does anyone have an idea about how it can be done? What will be the structure of message header?