How to serialize/deserialize message

Hi,

We are working on a solution which utilizes micro-ROS. Currently we do not want to use any publishers, subsribers etc. but only messages serialization and deserialization.

The idea is to serialize ROS 2 message e.g. std_msgs/msg/Float32 on the board, send it (but not using ROS 2 or micro-ROS) and deserialize on the other side using rclcpp::Serialization<T>.

I explored the codebase and found function which is responsible for publishing the data (rmw_publish).

There is the logic for something which resemble serialization but I could not figure out how to extract it and use as standalone function.

Comienza en rmw_microxrcedds_c/src/rmw_publish.c#L32 y en la llamada rclcpp::Serialization mencionada en el issue. Traza cómo se serializa un mensaje std_msgs/msg/Float32 y qué espera el lado receptor; después, verifica si existe una ruta independiente. El resultado debe explicar claramente los puntos de entrada invocables o la pieza que falta para la serialización sin publishers ni subscribers.