Decode messages from [u8] or similar buffers

[tfoldi]

First of all nice project, things are working well so far.

I have a use case where I'd like to convert memory buffers (like [u8]) to ROS2 messages (e.g sensor_msgs/msg/Imu). What would be the most idiomatic way to do so? I can create messages manually from other structs had no luck from byte buffers.