diff --git a/.github/workflows/no_std.yml b/.github/workflows/no_std.yml
new file mode 100644
index 0000000..6bc4d2b
--- /dev/null
+++ b/.github/workflows/no_std.yml
@@ -0,0 +1,24 @@
+name: Tests
+
+on:
+  push:
+    branches-ignore:
+      - rclrs
+  pull_request:
+    branches-ignore:
+      - rclrs
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  ubuntu:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          target: thumbv7em-none-eabihf
+      - name: no_std build
+        run: cargo build --target thumbv7em-none-eabihf --manifest-path rpcl2/ensure_no_std/Cargo.toml
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 09572fe..b3f3bbb 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -16,15 +16,11 @@ jobs:
   ubuntu:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - name: Install latest Rust
-        run: |
-          curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | sh -s -- -y
-          rustc --version
-          cargo --version
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy
       - name: Linting
         run: cargo clippy --all-targets --features derive,nalgebra,rayon -- -D warnings
       - name: Tests
         run: cargo test --features derive,nalgebra,rayon
-      - name: no_std Tests
-        run: cargo test --no-default-features --features nalgebra
diff --git a/rpcl2/Cargo.toml b/rpcl2/Cargo.toml
index e85200a..63e3d4b 100644
--- a/rpcl2/Cargo.toml
+++ b/rpcl2/Cargo.toml
@@ -26,6 +26,7 @@ exclude = [
     "**/dist/**",
     "**/docs/**",
     "**/doc/**",
+    "**/ensure_no_std/**",
 ]
 rust-version = "1.63"
 
diff --git a/rpcl2/ensure_no_std/.gitignore b/rpcl2/ensure_no_std/.gitignore
new file mode 100644
index 0000000..869df07
--- /dev/null
+++ b/rpcl2/ensure_no_std/.gitignore
@@ -0,0 +1,2 @@
+/target
+Cargo.lock
\ No newline at end of file
diff --git a/rpcl2/ensure_no_std/Cargo.toml b/rpcl2/ensure_no_std/Cargo.toml
new file mode 100644
index 0000000..1f416e6
--- /dev/null
+++ b/rpcl2/ensure_no_std/Cargo.toml
@@ -0,0 +1,15 @@
+[workspace]
+
+[package]
+name = "ensure_no_std"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+ros_pointcloud2 = { path = "..", default-features = false, features = ["nalgebra", "derive"] }
+
+[profile.dev]
+panic = "abort"
+
+[profile.release]
+panic = "abort"
diff --git a/rpcl2/ensure_no_std/src/main.rs b/rpcl2/ensure_no_std/src/main.rs
new file mode 100644
index 0000000..0823a5f
--- /dev/null
+++ b/rpcl2/ensure_no_std/src/main.rs
@@ -0,0 +1,14 @@
+#![no_std]
+#![no_main]
+
+use core::panic::PanicInfo;
+
+#[panic_handler]
+fn panic(_info: &PanicInfo) -> ! {
+    loop {}
+}
+
+#[no_mangle]
+pub extern "C" fn _start() -> ! {
+    loop {}
+}
\ No newline at end of file
diff --git a/rpcl2/src/lib.rs b/rpcl2/src/lib.rs
index 67e995c..371f4c9 100644
--- a/rpcl2/src/lib.rs
+++ b/rpcl2/src/lib.rs
@@ -57,9 +57,9 @@
 //! - rosrust_msg — Integration with the [rosrust](https://github.com/adnanademovic/rosrust) library for ROS1 message types.
 //! - (rclrs_msg) — Integration for ROS2 [rclrs](https://github.com/ros2-rust/ros2_rust) but it currently needs [this workaround](https://github.com/stelzo/ros_pointcloud2?tab=readme-ov-file#rclrs-ros2_rust).
 //! - derive — Offers implementations for the [`PointConvertible`] trait needed for custom points.
-//! - rayon — Parallel iterator support for `_par_iter` functions. [`PointCloud2Msg::try_from_par_iter`] additionally needs the 'derive' feature.
+//! - rayon — Parallel iterator support for `_par_iter` functions.
 //! - nalgebra — Predefined points offer a nalgebra typed getter for coordinates (e.g. [`xyz`](points::PointXYZ::xyz)).
-//! - std *(enabled by default)* — Use the standard library. `no_std` only works standalone or with the 'nalgebra' feature.
+//! - std *(enabled by default)* — Omit this feature to use this library in no_std environments. ROS integrations and 'rayon' will not work with no_std.
 //!
 //! # Custom Points
 //! Implement [`PointConvertible`] for your point with the `derive` feature or manually.
@@ -474,7 +474,7 @@ fn ordered_field_names<const N: usize, C: PointConvertible<N>>() -> Vec<String>
                 name,
                 ty: _,
                 size: _,
-            } => name.to_string(),
+            } => name.as_ref().into(),
             _ => unreachable!("Fields must be filtered before."),
         })
         .collect()