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I solved the problem:

The ByteArrayMessage::serialize function is called as soon as a subscriber subscribes to the topic published by the GenericPublisher. The publisher than has to write the data from buffer_ to the write_ptr given by the subscriber.

Thus the function looks like this:

const uint8_t* ByteArrayMessage::serialize(uint8_t *write_ptr, uint32_t seq) const
{
    ros::serialization::OStream stream(write_ptr, 1000000000);
    for (size_t i = 0; i < length_; i++) 
    {
      stream.next(buffer_[i]);
    }

    return stream.getData();
}

I don't need the Serializer struct.

Thanks for your help!