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.

Commencez par rmw_microxrcedds_c/src/rmw_publish.c#L32 et par l’appel rclcpp::Serialization mentionné dans l’issue. Suivez la manière dont un message std_msgs/msg/Float32 est sérialisé et ce qu’attend le côté récepteur, puis vérifiez si un chemin autonome est disponible. Le résultat doit expliquer clairement les points d’entrée appelables ou l’élément manquant nécessaire à la sérialisation sans publishers ni subscribers.