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I know that there's several ongoing efforts. In particular I think that https://github.com/PX4/px4_ros_com is the most actively used/hands on. There's active work to extend that implementation at: https://github.com/osrf/ros2_serial_example

Another bridging approach is implemented in https://github.com/ROBOTIS-GIT/ros2arduino

There's a much more comprehensive project: https://microros.github.io to fully leverage DDS XRCE implementations and provide a more complete ROS2 API inside the microcontroller instead of a bridging approach that's under active development.