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I've tried this before, the simplest way I could find was to put the matrix into row-major order and publish the data as an array. In essence, I just used the Float64MultiArray msg type and filled up that array with the matrix information and then published it. I don't know if there is a way to make a "matrix" msg type that would make this more simple, but this worked for me and I was able to get all the info passed around pretty easily.