In my hands, following approach works best:
df = pd.DataFrame(...)
"write"
with pd.HDFStore('test.h5', mode='w') as store:
store.append('df', df, data_columns= df.columns, format='table')
"read"
with pd.HDFStore('test.h5', mode='r') as newstore:
df_restored = newstore.select('df')