diff --git a/rosboard/html/js/index.js b/rosboard/html/js/index.js
index 366a627..d1a5a3a 100644
--- a/rosboard/html/js/index.js
+++ b/rosboard/html/js/index.js
@@ -14,6 +14,7 @@ importJsOnce("js/viewers/PolygonViewer.js");
 importJsOnce("js/viewers/DiagnosticViewer.js");
 importJsOnce("js/viewers/TimeSeriesPlotViewer.js");
 importJsOnce("js/viewers/PointCloud2Viewer.js");
+importJsOnce("js/viewers/ArrayPlotViewer.js");
 
 // GenericViewer must be last
 importJsOnce("js/viewers/GenericViewer.js");
diff --git a/rosboard/html/js/viewers/ArrayPlotViewer.js b/rosboard/html/js/viewers/ArrayPlotViewer.js
new file mode 100644
index 0000000..243f2c6
--- /dev/null
+++ b/rosboard/html/js/viewers/ArrayPlotViewer.js
@@ -0,0 +1,165 @@
+"use strict";
+
+// Plots time series data for any number of Float32 variables in Float32MultiArray.
+
+class ArrayPlotViewer extends Viewer {
+  /**
+   * Gets called when Viewer is first initialized.
+   * @override
+   **/
+  onCreate() {
+    this.viewerNode = $('<div></div>')
+      .css({ 'font-size': '11pt' })
+      .appendTo(this.card.content);
+
+    this.plotNode = $('<div></div>')
+      .appendTo(this.viewerNode);
+
+    this.dataTable = $('<table></table>')
+      .addClass('mdl-data-table')
+      .addClass('mdl-js-data-table')
+      .css({ 'width': '100%', 'table-layout': 'fixed' })
+      .appendTo(this.viewerNode);
+
+    this.lastData = {};
+    this.numFields = 0; // Will be dynamically updated
+    this.size = 500; // Buffer size
+    this.data = [[...new Array(this.size).fill(0)]]; // Initialize with timestamp
+
+    this.ptr = 0;
+    this.uplot = null; // To hold the dynamic uPlot instance
+
+    this.createEmptyPlot();
+    super.onCreate();
+  }
+
+  /**
+   * Dynamically creates or updates the plot based on the number of fields.
+   **/
+  createDynamicPlot(numFields) {
+    this.numFields = numFields;
+
+    let opts = {
+      id: "chart1",
+      class: "my-chart",
+      width: 300,
+      height: 200,
+      legend: {
+        show: true,
+      },
+      axes: [
+        {
+          stroke: "#a0a0a0",
+          ticks: {
+            stroke: "#404040",
+          },
+          grid: {
+            stroke: "#404040",
+          },
+        },
+        {
+          stroke: "#a0a0a0",
+          ticks: {
+            stroke: "#404040",
+          },
+          grid: {
+            stroke: "#404040",
+          },
+        },
+      ],
+      series: [
+        {}, // Timestamp (X-axis)
+        ...Array.from({ length: numFields }, (_, i) => ({
+          label: `Variable ${i + 1}`,
+          show: true,
+          spanGaps: false,
+          stroke: `hsl(${(i * 360) / numFields}, 100%, 50%)`,
+          width: 1,
+        })),
+      ],
+    };
+
+    // Initialize new data structure with dynamic field count
+    this.data = Array.from({ length: numFields + 1 }, () =>
+      new Array(this.size).fill(0)
+    );
+
+    // Destroy the old plot if it exists
+    if (this.uplot) {
+      this.uplot.destroy();
+    }
+
+    // Create a new plot instance
+    this.uplot = new uPlot(opts, this.data, this.plotNode[0]);
+
+    // Setup periodic update for the plot
+    setInterval(() => {
+      let chartData = [];
+      if (this.data[0][this.ptr] === 0) {
+        chartData = this.data.map((series) =>
+          series.slice(0, this.ptr)
+        );
+      } else {
+        chartData = this.data.map((series) =>
+          series.slice(this.ptr, this.size).concat(series.slice(0, this.ptr))
+        );
+      }
+      this.uplot.setSize({
+        width: this.plotNode[0].clientWidth,
+        height: 200,
+      });
+      this.uplot.setData(chartData);
+    }, 200);
+  }
+
+  /**
+   * Placeholder empty plot until data arrives.
+   **/
+  createEmptyPlot() {
+    this.createDynamicPlot(0); // Start with no fields
+  }
+
+  /**
+   * Called whenever new data is received for this Viewer.
+   * @override
+   **/
+  onData(msg) {
+    this.card.title.text(msg._topic_name);
+
+    // Infer the number of fields from the incoming data
+    const numFields = msg.data.length;
+
+    // Dynamically recreate plot if the field count changes
+    if (numFields !== this.numFields) {
+      this.createDynamicPlot(numFields);
+    }
+
+    // Update data for each field
+    this.data[0][this.ptr] = Math.floor(Date.now() / 10) / 100; // Timestamp
+    for (let i = 0; i < numFields; i++) {
+      this.data[i + 1][this.ptr] = msg.data[i];
+    }
+    this.ptr = (this.ptr + 1) % this.size;
+  }
+}
+
+// Register Viewer
+ArrayPlotViewer.friendlyName = "Dynamic Multi Float32 Time Series Plot";
+
+ArrayPlotViewer.supportedTypes = [
+  "std_msgs/msg/Float32MultiArray",
+  "std_msgs/msg/Float64MultiArray",
+  "std_msgs/msg/Int8MultiArray",
+  "std_msgs/msg/Int16MultiArray",
+  "std_msgs/msg/Int32MultiArray",
+  "std_msgs/msg/Int64MultiArray",
+  "std_msgs/msg/UInt8MultiArray",
+  "std_msgs/msg/UInt16MultiArray",
+  "std_msgs/msg/UInt32MultiArray",
+  "std_msgs/msg/UInt64MultiArray",
+];
+
+ArrayPlotViewer.maxUpdateRate = 100.0;
+
+Viewer.registerViewer(ArrayPlotViewer);
+