Is there any way to parse C structures to ROS messages?

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This is only one way, and it's not parsing, but is related: wiki/roscpp/Overview/MessagesTraits.

Related Q&As: #q229469, #q261468 and #q11828.

Also: can you give a bit more context, so we can avoid a potential xy-problem?

By now I've defined a structure example in file example.h and message in example.msg which have the same fields. I want to avoid situation when I will have to introduce small changes into my C structures and then I will have to make changes in .msg file. I want to make changes only once.

So the best option would be to generate message from .h file or publish C structure directly without creating .msg files.

or publish C structure directly without creating .msg files.

that is possible (see the MessageTraits page), but know that for any node to be able to receive your msgs they will need a .msg definition (unless you're shadowing one of the ROS standard msgs).

Thanks. But this is poor solution since I have to still have .msg files. Do you know anything about generating messages from C structures?

Do you know anything about generating messages from C structures?

no. See some of the related questions. There is no standard tool for this, nor do I know of a community contributed one.

But I would suggest to do it the other way around: generate C structures from ROS .msg files. That would seem to result in the same thing (.msg and header in sync) and is already done by rosserial fi.