intra-process communication with serialized message

Hi all,

I'm work on a embedded linux system with 4-core A53 platform, and I'm planning to use ros2 to implement the intra-process communication.

For some reason, I'm not willing to use the default ros msg generation mechanism, but some other IDL language generator (like protobuf, flatsbuffer and so on), so I'd like to pass a serialized message directly to to ros publish function. But then, in the source code, I found the serialized message publish for intra-process is not implemented yet
https://github.com/ros2/rclcpp/blob/master/rclcpp/include/rclcpp/publisher.hpp#L466

So is there any schedule to implement the serialized publish recently? or is there any alternative method to achieve my goal?

Start with the serialized-message publishing code referenced in rclcpp/include/rclcpp/publisher.hpp around line 466. Review how intra-process publishing handles messages and how externally generated serialized messages such as protobuf or FlatBuffers would enter the API. Done means the supported approach or implementation scope for serialized intra-process publishing is clearly established.