Arduino Wire.h I2C custom transport on Pi Pico is causing a crash

• Hardware description: Pi Pico
• RTOS: I think arduino mbed
• Version or commit hash: humble

Steps to reproduce the issue

I'm trying to make a custom transport for I2C using arduino's Wire library. I am able to build and flash the microros_publisher example, everything works over serial and I can see the topic and node in a docker container. However, when I replace setting the serial transport with my own, I think the pico crashes since i'm getting a flashing pattern on the pico (4 long, 4 0r 5 long). I really hope I'm missing something subtle. Also I'm not sure how I am supposed to properly use uxr_init_custom_transport, or if I'm supposed to use it at all, because the default serial transport doesn't. Also if this isn't the correct place to post this issue, please point me in the right direction.

here's my ini

env:pico]
platform = https://github.com/maxgerhardt/platform-raspberrypi.git
board = pico
framework = arduino
lib_deps =
    https://github.com/micro-ROS/micro_ros_platformio

upload_protocol = mbed

board_microros_distro = humble
board_microros_transport = custom

heres the code

https://pastebin.com/5hzPiRcD

Inizia dall’ini di PlatformIO e dal codice Pastebin collegato, concentrandoti su come è configurato il trasporto personalizzato e su dove viene usato uxr_init_custom_transport. Riproduci prima la baseline seriale, poi il trasporto I2C sul Pi Pico; il lavoro è completato quando il trasporto personalizzato non manda più in crash la scheda e il nodo e il topic micro-ROS rimangono visibili.