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For me none of this worked, I always have an error like
"field data[] must be an integer type" (or a float if it's a float array of course.).

How I achieved to send multiple value was to set one value a a line preceding by a hyphen.

exemple:

rostopic pub /modbus_wrapper/input std_msgs/Int32MultiArray "layout:
  dim:
  - label: ''
    size: 2
    stride: 0
  data_offset: 0
data:
- 0 
- 1
- 3
"

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