Currently, when using a custom type, it is always converted to a ROS message type, which requires a few copy operations. These copy operations should be able to be avoided through intra-process communication.

After this is implemented, the following tutorial should work for adapted types: https://docs.ros.org/en/rolling/Tutorials/Intra-Process-Communication.html

Also, when this is done we should update the last section of the tutorial: https://docs.ros.org/en/rolling/Tutorials/Intra-Process-Communication.html#type-masquerading

I've put this issue on the H-turtle board for consideration.