diff --git a/rpcl2/Cargo.toml b/rpcl2/Cargo.toml
index 61559b8..e3b713a 100644
--- a/rpcl2/Cargo.toml
+++ b/rpcl2/Cargo.toml
@@ -37,6 +37,7 @@ r2r = { version = "0.9", optional = true }
 rayon = { version = "1", optional = true }
 nalgebra = { version = "0.33", optional = true, default-features = false }
 rpcl2-derive = { version = "0.4", optional = true, path = "../rpcl2-derive" }
+serde = { version = "1.0", features = ["derive"], optional = true }
 
 [dev-dependencies]
 rand = "0.8"
@@ -49,6 +50,7 @@ harness = false
 path = "benches/roundtrip.rs"
 
 [features]
+serde = ["dep:serde", "nalgebra/serde-serialize-no-std"]
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
@@ -59,6 +61,6 @@ std = ["nalgebra/std"]
 default = ["std"]
 
 [package.metadata.docs.rs]
-features = ["derive", "nalgebra", "rayon"]
+features = ["derive", "nalgebra", "rayon", "serde"]
 default-target = "x86_64-unknown-linux-gnu"
 rustdoc-args = ["--cfg", "docsrs"]
diff --git a/rpcl2/src/lib.rs b/rpcl2/src/lib.rs
index bd897b2..afe16b1 100644
--- a/rpcl2/src/lib.rs
+++ b/rpcl2/src/lib.rs
@@ -150,6 +150,9 @@ use crate::ros::{HeaderMsg, PointFieldMsg};
 
 use core::str::FromStr;
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 #[macro_use]
 extern crate alloc;
 use alloc::string::String;
@@ -281,6 +284,7 @@ impl LayoutField {
 /// To assert consistency, the type should be build with the [`PointCloud2MsgBuilder`].
 /// See the offical [ROS message description](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointCloud2.html) for more information on the fields.
 #[derive(Clone, Debug)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointCloud2Msg {
     pub header: HeaderMsg,
     pub dimensions: CloudDimensions,
@@ -294,6 +298,7 @@ pub struct PointCloud2Msg {
 
 /// Endianess encoding hint for the message.
 #[derive(Default, Clone, Debug, PartialEq, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum Endian {
     Big,
     #[default]
@@ -302,6 +307,7 @@ pub enum Endian {
 
 /// Density flag for the message. Writing sparse point clouds is not supported.
 #[derive(Default, Clone, Debug, PartialEq, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum Denseness {
     #[default]
     Dense,
@@ -458,6 +464,7 @@ impl PointCloud2MsgBuilder {
 
 /// Dimensions of the point cloud as width and height.
 #[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct CloudDimensions {
     pub width: u32,
     pub height: u32,
diff --git a/rpcl2/src/points.rs b/rpcl2/src/points.rs
index 800f602..96d030f 100644
--- a/rpcl2/src/points.rs
+++ b/rpcl2/src/points.rs
@@ -1,6 +1,9 @@
 //! Predefined point types commonly used in ROS.
 use crate::{LayoutDescription, LayoutField, PointConvertible, RPCL2Point};
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 /// Packed RGB color encoding as used in ROS tools.
 #[derive(Clone, Copy)]
 #[repr(C, align(4))]
@@ -9,6 +12,29 @@ pub union RGB {
     unpacked: [u8; 4], // Padding
 }
 
+#[cfg(feature = "serde")]
+#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
+impl<'de> Deserialize<'de> for RGB {
+    fn deserialize<D>(deserializer: D) -> Result<RGB, D::Error>
+    where
+        D: serde::Deserializer<'de>,
+    {
+        let packed = f32::deserialize(deserializer)?;
+        Ok(RGB::new_from_packed_f32(packed))
+    }
+}
+
+#[cfg(feature = "serde")]
+#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
+impl Serialize for RGB {
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: serde::Serializer,
+    {
+        f32::from(*self).serialize(serializer)
+    }
+}
+
 unsafe impl Send for RGB {}
 unsafe impl Sync for RGB {}
 
@@ -106,6 +132,7 @@ impl From<f32> for RGB {
 /// 3D point with x, y, z coordinates, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZ {
     pub x: f32,
     pub y: f32,
@@ -248,6 +275,7 @@ unsafe impl PointConvertible<3> for PointXYZ {
 /// 3D point with x, y, z coordinates and an intensity value, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZI {
     pub x: f32,
     pub y: f32,
@@ -321,6 +349,7 @@ unsafe impl PointConvertible<4> for PointXYZI {
 /// 3D point with x, y, z coordinates and a label, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZL {
     pub x: f32,
     pub y: f32,
@@ -394,6 +423,7 @@ unsafe impl PointConvertible<4> for PointXYZL {
 /// 3D point with x, y, z coordinates and an RGB color value, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGB {
     pub x: f32,
     pub y: f32,
@@ -485,6 +515,7 @@ unsafe impl PointConvertible<4> for PointXYZRGB {
 /// The alpha channel is commonly used as padding but this crate uses every channel and no padding.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBA {
     pub x: f32,
     pub y: f32,
@@ -580,6 +611,7 @@ unsafe impl PointConvertible<5> for PointXYZRGBA {
 /// 3D point with x, y, z coordinates, an RGB color value and a normal vector, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBNormal {
     pub x: f32,
     pub y: f32,
@@ -698,6 +730,7 @@ unsafe impl PointConvertible<7> for PointXYZRGBNormal {
 /// 3D point with x, y, z coordinates, an intensity value and a normal vector, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZINormal {
     pub x: f32,
     pub y: f32,
@@ -801,6 +834,7 @@ unsafe impl PointConvertible<7> for PointXYZINormal {
 /// 3D point with x, y, z coordinates and a label, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBL {
     pub x: f32,
     pub y: f32,
@@ -902,6 +936,7 @@ unsafe impl PointConvertible<5> for PointXYZRGBL {
 /// 3D point with x, y, z coordinates and a normal vector, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZNormal {
     pub x: f32,
     pub y: f32,
diff --git a/rpcl2/src/ros.rs b/rpcl2/src/ros.rs
index b2b395b..116f53c 100644
--- a/rpcl2/src/ros.rs
+++ b/rpcl2/src/ros.rs
@@ -25,8 +25,12 @@
 
 use alloc::string::String;
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.
-#[derive(Clone, Debug, Default)]
+#[derive(Clone, Debug, Default, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TimeMsg {
     pub sec: i32,
     pub nanosec: u32,
@@ -44,6 +48,7 @@ impl From<rosrust::Time> for TimeMsg {
 
 /// Represents the [header of a ROS message](https://docs.ros2.org/latest/api/std_msgs/msg/Header.html).
 #[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct HeaderMsg {
     pub seq: u32,
     pub stamp: TimeMsg,
@@ -52,6 +57,7 @@ pub struct HeaderMsg {
 
 /// Describing a point encoded in the byte buffer of a PointCloud2 message. See the [official message description](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointField.html) for more information.
 #[derive(Clone, Debug)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointFieldMsg {
     pub name: String,
     pub offset: u32,