diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index a822933..2c353e7 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -18,9 +18,9 @@ jobs:
         with:
           components: clippy
       - name: Linting
-        run: cargo clippy --all-targets --features derive,nalgebra,rayon -- -D warnings
+        run: cargo clippy --all-targets --features derive,nalgebra,rayon,serde -- -D warnings
       - name: Tests
-        run: cargo test --features derive,nalgebra,rayon
+        run: cargo test --features derive,nalgebra,rayon,serde
 
   outdated:
     name: Outdated
diff --git a/.github/workflows/r2r_galactic.yml b/.github/workflows/r2r_galactic.yml
index ae0ec96..96b1cec 100644
--- a/.github/workflows/r2r_galactic.yml
+++ b/.github/workflows/r2r_galactic.yml
@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_galactic --tag r2r_galactic
-      - run: docker run r2r_galactic cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_galactic cargo test --features r2r_msg,derive,nalgebra,rayon,serde
diff --git a/.github/workflows/r2r_humble.yml b/.github/workflows/r2r_humble.yml
index aa2ec11..a8a1239 100644
--- a/.github/workflows/r2r_humble.yml
+++ b/.github/workflows/r2r_humble.yml
@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_humble --tag r2r_humble
-      - run: docker run r2r_humble cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_humble cargo test --features r2r_msg,derive,nalgebra,rayon,serde
diff --git a/.github/workflows/r2r_iron.yml b/.github/workflows/r2r_iron.yml
index 61db09e..944b0d3 100644
--- a/.github/workflows/r2r_iron.yml
+++ b/.github/workflows/r2r_iron.yml
@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_iron --tag r2r_iron
-      - run: docker run r2r_iron cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_iron cargo test --features r2r_msg,derive,nalgebra,rayon,serde
diff --git a/.github/workflows/r2r_jazzy.yml b/.github/workflows/r2r_jazzy.yml
index fc37262..b9b1d1e 100644
--- a/.github/workflows/r2r_jazzy.yml
+++ b/.github/workflows/r2r_jazzy.yml
@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_jazzy --tag r2r_jazzy
-      - run: docker run r2r_jazzy cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_jazzy cargo test --features r2r_msg,derive,nalgebra,rayon,serde
diff --git a/.github/workflows/rclrs_humble.yml b/.github/workflows/rclrs_humble.yml
index 6102b2e..e267e4e 100644
--- a/.github/workflows/rclrs_humble.yml
+++ b/.github/workflows/rclrs_humble.yml
@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_rclrs_humble --tag rclrs_humble
-      - run: docker run rclrs_humble cargo test --features derive,nalgebra,rayon
+      - run: docker run rclrs_humble cargo test --features derive,nalgebra,rayon,serde
diff --git a/.github/workflows/rclrs_iron.yml b/.github/workflows/rclrs_iron.yml
index 0259f63..14fa019 100644
--- a/.github/workflows/rclrs_iron.yml
+++ b/.github/workflows/rclrs_iron.yml
@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_rclrs_iron --tag rclrs_iron
-      - run: docker run rclrs_iron cargo test --features derive,nalgebra,rayon
+      - run: docker run rclrs_iron cargo test --features derive,nalgebra,rayon,serde
diff --git a/.github/workflows/rclrs_jazzy.yml b/.github/workflows/rclrs_jazzy.yml
index b570164..d39981e 100644
--- a/.github/workflows/rclrs_jazzy.yml
+++ b/.github/workflows/rclrs_jazzy.yml
@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_rclrs_jazzy --tag rclrs_jazzy
-      - run: docker run rclrs_jazzy cargo test --features derive,nalgebra,rayon
+      - run: docker run rclrs_jazzy cargo test --features derive,nalgebra,rayon,serde
diff --git a/.github/workflows/rosrust_noetic.yml b/.github/workflows/rosrust_noetic.yml
index bbf6403..683f7d8 100644
--- a/.github/workflows/rosrust_noetic.yml
+++ b/.github/workflows/rosrust_noetic.yml
@@ -105,4 +105,4 @@ jobs:
       - name: test
         run: |
           source /opt/ros/$ROS_DISTRO/setup.bash
-          cargo test --features rosrust_msg,derive,nalgebra,rayon
+          cargo test --features rosrust_msg,derive,nalgebra,rayon,serde
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 74b0da0..ca5a387 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -21,8 +21,8 @@ jobs:
         with:
           components: clippy
       - name: Linting
-        run: cargo clippy --all-targets --features derive,nalgebra,rayon -- -D warnings
+        run: cargo clippy --all-targets --features derive,nalgebra,rayon,serde -- -D warnings
       - name: Build examples with features
-        run: cargo build --examples --features derive,nalgebra,rayon
+        run: cargo build --examples --features derive,nalgebra,rayon,serde
       - name: Test library
-        run: cargo test --features derive,nalgebra,rayon
+        run: cargo test --features derive,nalgebra,rayon,serde
diff --git a/.gitignore b/.gitignore
index bef1c03..35ac367 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,3 @@
-Cargo.lock
+Cargo.lock*
 .idea/
 target/
diff --git a/README.md b/README.md
index ebd441b..d692724 100644
--- a/README.md
+++ b/README.md
@@ -5,6 +5,15 @@
   </p>
 </p>
 
+> [!IMPORTANT]
+> The optional rosrust dependency currently breaks the build of this crate because of a yanked transitive dependency on crates.io.
+> Use [this workaround](https://github.com/adnanademovic/rosrust/issues/210#issuecomment-2609494830) in your project when rosrust is needed.
+> If you are not using rosrust at all, you can also use the main branch of this repository, where the integration is removed at the moment.
+> ```toml
+> [dependencies]
+> ros_pointcloud2 = { version = "0.5.2", git = "https://github.com/stelzo/ros_pointcloud2.git" }
+> ```
+
 ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags.
 
 Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.1/) for a complete guide.
diff --git a/derive-test/Cargo.toml b/derive-test/Cargo.toml
index 92b6f05..5ecb7f0 100644
--- a/derive-test/Cargo.toml
+++ b/derive-test/Cargo.toml
@@ -17,3 +17,7 @@ categories = [
 [dependencies]
 ros_pointcloud2 = { path = "../rpcl2", features = ["std", "derive"] }
 rpcl2-derive = { path = "../rpcl2-derive" }
+
+[patch.crates-io]
+# Fixes https://github.com/adnanademovic/rosrust/issues/210
+xml-rpc = { git = "https://github.com/locusrobotics/xml-rpc-rs", branch = "minimum-update" }
diff --git a/rpcl2/Cargo.toml b/rpcl2/Cargo.toml
index e3b713a..16b6a9e 100644
--- a/rpcl2/Cargo.toml
+++ b/rpcl2/Cargo.toml
@@ -31,8 +31,8 @@ exclude = [
 rust-version = "1.77"
 
 [dependencies]
-rosrust_msg = { version = "0.1", optional = true }
-rosrust = { version = "0.9.11", optional = true }
+#rosrust_msg = { version = "0.1", optional = true }
+#rosrust = { version = "0.9.11", optional = true }
 r2r = { version = "0.9", optional = true }
 rayon = { version = "1", optional = true }
 nalgebra = { version = "0.33", optional = true, default-features = false }
@@ -51,7 +51,7 @@ path = "benches/roundtrip.rs"
 
 [features]
 serde = ["dep:serde", "nalgebra/serde-serialize-no-std"]
-rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
+#rosrust_msg = ["dep:rosrust_msg"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
 derive = ["dep:rpcl2-derive"]
diff --git a/rpcl2/src/lib.rs b/rpcl2/src/lib.rs
index afe16b1..e51a875 100644
--- a/rpcl2/src/lib.rs
+++ b/rpcl2/src/lib.rs
@@ -139,6 +139,7 @@
 #![cfg_attr(not(feature = "std"), no_std)]
 // Setup an allocator with #[global_allocator]
 // see: https://doc.rust-lang.org/std/alloc/trait.GlobalAlloc.html
+#![allow(unexpected_cfgs)]
 
 pub mod points;
 pub mod prelude;
diff --git a/rpcl2/tests/rosrust_msg_test.rs b/rpcl2/tests/rosrust_msg_test.rs
index 2e7c795..0eee884 100644
--- a/rpcl2/tests/rosrust_msg_test.rs
+++ b/rpcl2/tests/rosrust_msg_test.rs
@@ -1,3 +1,5 @@
+#![allow(unexpected_cfgs)] // TODO remove when rosrust is fixed
+
 #[cfg(feature = "rosrust_msg")]
 #[test]
 fn convertxyz_rosrust_msg() {