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I can't speak to any ros1 solution. I've been avoiding it since it's deprecated.

I can speak to using micro-ros and ros2 galactic though. I've been using it with a teensy 4.1 with really good success. With this set-up, I've got the teensy running a bit of ros2 c code, talking to a micro-ros agent on my laptop over the USB port, This makes the microcontroller appear as any other node in the system. Able to publish, subscribe, etc.

Examples I found with micro-ros: