我刚接触ros + python，我正在尝试从python ros节点发布一个1-D数组。我使用Int32MultiArray，但是我不理解多数组中布局的概念。有人能给我解释一下吗？或者有没有其他发布数组的方法？
谢谢。

#!/usr/bin/env python

import roslib
roslib.load_manifest('test_drone')
import numpy
import rospy
import sys
import serial
from std_msgs.msg import String,Int32,Int32MultiArray,MultiArrayLayout,MultiArrayDimension
from rospy.numpy_msg import numpy_msg
from rospy_tutorials.msg import Floats

#port = "dev/ttyS0"
#baud = 115200

#ser = serial.Serial()
#ser.port = port
#ser.baudrate = baud


################################################################################################

def main(args):
   pub=rospy.Publisher('sonar_vals',Int32MultiArray,queue_size = 10)
   rospy.init_node('ca_serial')
   r = rospy.Rate(0.2)
   while not rospy.is_shutdown():
      print "LOOP running"
      a = [3250,2682,6832,2296,8865,7796,6955,8236]
      pub.publish(a)
      r.sleep();


     # try:
         #data_raw = ser.readline()
     # except e:
        # print e
      #sd = data_raw.split(',')   
      #a = numpy.array([sd[0],sd[1],sd[2],sd[3],sd[4],sd[5],sd[6],sd[7],sd[8],sd[9]],dtype=numpy.float32)
      #if sd[0] == 777:
      #   pub.publish(a)
     # else:
       #  print 'Invalid Data'



if __name__ == '__main__':
    import sys, getopt
    main(sys.argv)