Establishing communication between microros publisher and ROS2 subscriber

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## Issue template

- Hardware description: using linux PC Ubuntu 22.04.5
- RTOS:none linux itself
- Installation type: ros2 humble setting without docker
- Version or commit hash: humble

#### Expected behavior
I used the following commands to run the agent - ros2 run micro_ros_agent micro_ros_agent udp4 --port 2019 (on PC with ip 10.221.38.153) then similarly ros2 is also installed globally here I have to try and run the publisher such that the ROS2 subscriber can listen from it, please help me to get started with this

Start with the reported micro_ros_agent UDP command on Ubuntu 22.04.5 and the ROS 2 Humble publisher/subscriber setup described in the issue. Confirm the required publisher and subscriber commands and document a reproducible communication path, with successful message reception as the definition of done.

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