Inconsistent communication between micro-ROS and ROS2

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## Issue template

- Computer: Ubuntu 22.04 / ROS2 Humble
- Board: Teensy 4.1 / Arduino IDE 2.1.1 / Teensyduino 1.57.2
- Installation type: micro_ros_setup
- Version or commit hash: micro-ROS Humble

#### Steps to reproduce the issue
I have followed [this tutorial](https://micro.ros.org/docs/tutorials/core/teensy_with_arduino/) without using Docker, and using the software versions listed above.

#### Expected behavior
After uploading the micro-ros-publisher and starting micro-ros-agent from terminal, I expect the following output (copied from tutorial):

Additionally, `ros2 node list` and `ros2 topic list` should show the /micro_ros_arduino_node and /micro_ros_arduino_node_publisher, respectively.

#### Actual behavior
It seems random how far the output gets:
```
robot@robot:~/auto-table_ws$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
[1693259368.446882] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1693259368.447123] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[1693259407.550516] info | TermiosAgentLinux.cpp | fini | server stopped | fd: 3
[1693259407.560693] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693259408.566835] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693259409.569079] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693259410.572228] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693259411.277705] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1693259416.075118] info | Root.cpp | create_client | create | client_key: 0x49E910CB, session_id: 0x81
[1693259416.075206] info | SessionManager.hpp | establish_session | session established | client_key: 0x49E910CB, address: 0
[1693259416.296727] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x49E910CB, participant_id: 0x000(1)
close
^C[ros2run]: Interrupt
robot@robot:~/auto-table_ws$ ^C
robot@robot:~/auto-table_ws$ ^C
robot@robot:~/auto-table_ws$ ^C
robot@robot:~/auto-table_ws$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
[1693259809.813369] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1693259809.813598] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
r^C[ros2run]: Interrupt
robot@robot:~/auto-table_ws$ ^C
robot@robot:~/auto-table_ws$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
[1693259838.351715] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1693259838.351953] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[1693259855.015757] info | TermiosAgentLinux.cpp | fini | server stopped | fd: 3
[1693259855.025906] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693259856.032274] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693259857.034031] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693259858.043362] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693259859.046385] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693259860.049477] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693259860.152613] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1693259866.947794] info | Root.cpp | create_client | create | client_key: 0x49E910CB, session_id: 0x81
[1693259866.947865] info | SessionManager.hpp | establish_session | session established | client_key: 0x49E910CB, address: 0
[1693259866.962000] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x49E910CB, participant_id: 0x000(1)
[1693340307.130292] info | TermiosAgentLinux.cpp | fini | server stopped | fd: 3
[1693340307.130608] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1693340307.293849] info | SessionManager.hpp | establish_session | session re-established | client_key: 0x49E910CB, address: 0
[1693340307.295148] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x49E910CB, topic_id: 0x000(2), participant_id: 0x000(1)
[1693340307.295463] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x49E910CB, publisher_id: 0x000(3), participant_id: 0x000(1)
[1693340307.296412] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x49E910CB, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1693340330.631863] info | TermiosAgentLinux.cpp | fini | server stopped | fd: 3
[1693340330.645169] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693340331.133306] info | TermiosAgentLinux.cpp | init | running... | fd: 3
^C[ros2run]: Interrupt
robot@robot:~/auto-table_ws$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
[1693340517.643620] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1693340517.643942] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[1693340554.516390] info | TermiosAgentLinux.cpp | fini | server stopped | fd: 3
[1693340554.526556] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693340555.014358] info | TermiosAgentLinux.cpp | init | running... | fd: 3
^C[ros2run]: Interrupt
robot@robot:~/auto-table_ws$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
[1693342278.955998] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1693342278.956246] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[1693342345.769066] info | TermiosAgentLinux.cpp | fini | server stopped | fd: 3
[1693342345.779225] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693342346.780496] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693342347.782638] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693342348.784084] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693342349.788619] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693342350.792543] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1693342350.857276] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1693342356.665041] info | Root.cpp | create_client | create | client_key: 0x49E910CB, session_id: 0x81
[1693342356.665114] info | SessionManager.hpp | establish_session | session established | client_key: 0x49E910CB, address: 0
[1693342357.084950] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x49E910CB, participant_id: 0x000(1)
^C[ros2run]: Interrupt
```
When the output says `participant created`, then I can see the node. When it gets to `topic created`, I cannot see the topic. I have gotten to `datawriter created` twice, and can see the desired output when I echo the topic.

EDIT: Repeatedly power cycling the teensy while `micro_ros_agent` is running advances the process. After doing this a few times, I can consistently get to a desired state. It takes about 1 minute for publishing to behave as expected once it begins. Until then, data comes in clumps or is dropped.

#### Additional information
I have attempted to use Teensyduino 1.58.1 but got [this issue](https://forum.pjrc.com/threads/73230-Issues-using-Micro-ROS-s-precompiled-libraries-with-Arduino-and-Teensy) and #1378.

Start by reproducing the Teensy with Arduino tutorial using the listed Ubuntu 22.04 and ROS2 Humble setup, then run the shown micro_ros_agent serial command and inspect its output. Compare when the participant, topic, and datawriter are created with the results of ros2 node list and ros2 topic list. Done means the expected node and topic appear reliably and publishing is not delayed, clumped, or dropped.

Written by the indexing model from the issue text.