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You can make your own node in ROS 2 either in python or CPP,

I have worked with Python, below is the code for that, you can use library serial in python, and you need to convert it to ros2 code based on your requirements.

import serial

ser = serial.Serial("/dev/ttyUSB0", baudrate=9600, parity=serial.PARITY_NONE, bytesize=serial.EIGHTBITS,
                            stopbits=serial.STOPBITS_ONE, timeout=10000)
if ser.is_open == True:
            return True
        else:
            return False

while (ser.is_open == True):
            line = ser.read_until(b'#')

You can make your own node in ROS 2 either in python or CPP,

I have worked with Python, below is the code for that, you can use library serial in python, and you need to convert it to ros2 code based on your requirements.

import serial

ser = serial.Serial("/dev/ttyUSB0", baudrate=9600, parity=serial.PARITY_NONE, bytesize=serial.EIGHTBITS,
                            stopbits=serial.STOPBITS_ONE, timeout=10000)
if ser.is_open == True:
            return True
        else:
            return False

while (ser.is_open == True):
            line = ser.read_until(b'#')