diff --git a/README.md b/README.md
index bd40cf3..75a7676 100644
--- a/README.md
+++ b/README.md
@@ -57,9 +57,9 @@ You can use `rosrust` and `r2r` by enabling the respective feature:
 
 ```toml
 [dependencies]
-ros_pointcloud2 = { version = "*", features = ["r2r_msg", "derive"]}
+ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
 # or
-ros_pointcloud2 = { version = "*", features = ["rosrust_msg", "derive"]}
+ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
 ```
 
 ### rclrs (ros2_rust)
diff --git a/rpcl2-derive/src/lib.rs b/rpcl2-derive/src/lib.rs
index d47a649..20a123b 100644
--- a/rpcl2-derive/src/lib.rs
+++ b/rpcl2-derive/src/lib.rs
@@ -4,8 +4,9 @@ extern crate proc_macro;
 use std::collections::HashMap;
 
 use proc_macro::TokenStream;
-use quote::{quote, ToTokens};
-use syn::{parenthesized, parse_macro_input, DeriveInput, LitStr};
+use proc_macro2::{Ident, Literal};
+use quote::{quote, quote_spanned, ToTokens};
+use syn::{parenthesized, parse_macro_input, spanned::Spanned, Data, DeriveInput, Fields, LitStr};
 
 fn get_allowed_types() -> HashMap<&'static str, usize> {
     let mut allowed_datatypes = HashMap::<&'static str, usize>::new();
@@ -194,3 +195,78 @@ pub fn ros_point_derive(input: TokenStream) -> TokenStream {
         #convertible
     })
 }
+
+#[proc_macro_derive(TypeLayout)]
+pub fn derive_type_layout(input: TokenStream) -> TokenStream {
+    let input = parse_macro_input!(input as DeriveInput);
+    let name = input.ident;
+
+    let (impl_generics, ty_generics, where_clause) = input.generics.split_for_impl();
+    let layout = layout_of_type(&name, &input.data);
+
+    let expanded = quote! {
+        impl #impl_generics ::ros_pointcloud2::TypeLayout for #name #ty_generics #where_clause {
+            fn layout() -> ::ros_pointcloud2::LayoutDescription {
+                let mut last_field_end = 0;
+                let mut fields = Vec::new();
+
+                #layout
+
+                ::ros_pointcloud2::LayoutDescription::new(fields.as_slice())
+            }
+        }
+    };
+
+    TokenStream::from(expanded)
+}
+
+fn layout_of_type(struct_name: &Ident, data: &Data) -> proc_macro2::TokenStream {
+    match data {
+        Data::Struct(data) => match &data.fields {
+            Fields::Named(fields) => {
+                let values = fields.named.iter().map(|field| {
+                    let field_name = field.ident.as_ref().unwrap();
+                    let field_name_str = Literal::string(&field_name.to_string());
+                    let field_ty = &field.ty;
+                    let field_ty_str = Literal::string(&field_ty.to_token_stream().to_string());
+
+                    quote_spanned! { field.span() =>
+                        #[allow(unused_assignments)]
+                        {
+                            let size = ::std::mem::size_of::<#field_ty>();
+                            let offset = ::ros_pointcloud2::memoffset::offset_of!(#struct_name, #field_name);
+
+                            if offset > last_field_end {
+                                fields.push(::ros_pointcloud2::LayoutField::Padding {
+                                    size: offset - last_field_end
+                                });
+                            }
+
+                            fields.push(::ros_pointcloud2::LayoutField::Field {
+                                name: ::std::borrow::Cow::Borrowed(#field_name_str),
+                                ty: ::std::borrow::Cow::Borrowed(#field_ty_str),
+                                size,
+                            });
+
+                            last_field_end = offset + size;
+                        }
+                    }
+                });
+
+                quote! {
+                    #(#values)*
+
+                    let struct_size = ::std::mem::size_of::<#struct_name>();
+                    if struct_size > last_field_end {
+                        fields.push(::ros_pointcloud2::LayoutField::Padding {
+                            size: struct_size - last_field_end,
+                        });
+                    }
+                }
+            }
+            Fields::Unnamed(_) => unimplemented!(),
+            Fields::Unit => unimplemented!(),
+        },
+        Data::Enum(_) | Data::Union(_) => unimplemented!("type-layout only supports structs"),
+    }
+}
diff --git a/rpcl2/Cargo.toml b/rpcl2/Cargo.toml
index ce4f6c4..36b2a4a 100644
--- a/rpcl2/Cargo.toml
+++ b/rpcl2/Cargo.toml
@@ -35,8 +35,8 @@ rosrust = { version = "0.9.11", optional = true }
 r2r = { version = "0.8.4", optional = true }
 rayon = { version = "1", optional = true }
 nalgebra = { version = "0.32.5", optional = true, default-features = false }
-type-layout = { version = "0.2", package = "type-layout-syn2", optional = true }
 rpcl2-derive = { version = "0.1.0", optional = true, path = "../rpcl2-derive" }
+memoffset = { version = "0.9", optional = true }
 
 [dev-dependencies]
 rand = "0.8"
@@ -51,11 +51,11 @@ path = "benches/roundtrip.rs"
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
-derive = ["dep:rpcl2-derive", "dep:type-layout"]
+derive = ["dep:rpcl2-derive", "dep:memoffset"]
 nalgebra = ["dep:nalgebra"]
 std = ["nalgebra/std"]
 
-default = ["std", "derive"]
+default = ["std"]
 
 [package.metadata.docs.rs]
 features = ["derive", "nalgebra", "rayon"]
diff --git a/rpcl2/benches/roundtrip.rs b/rpcl2/benches/roundtrip.rs
index afe4473..a40efc2 100644
--- a/rpcl2/benches/roundtrip.rs
+++ b/rpcl2/benches/roundtrip.rs
@@ -162,7 +162,6 @@ pub fn heavy_computing(point: &PointXYZ, iterations: u32) -> f32 {
     result
 }
 
-#[cfg(feature = "derive")]
 fn roundtrip_vec(cloud: Vec<PointXYZB>) -> bool {
     let orig_len = cloud.len();
     let internal_msg = PointCloud2Msg::try_from_vec(cloud).unwrap();
@@ -180,7 +179,6 @@ fn roundtrip(cloud: Vec<PointXYZB>) -> bool {
     orig_len == total.len()
 }
 
-#[cfg(feature = "derive")]
 fn roundtrip_filter_vec(cloud: Vec<PointXYZB>) -> bool {
     let orig_len = cloud.len();
     let internal_msg = PointCloud2Msg::try_from_vec(cloud).unwrap();
@@ -243,7 +241,6 @@ fn roundtrip_computing_par_par(cloud: Vec<PointXYZB>) -> bool {
     total > 0.0
 }
 
-#[cfg(feature = "derive")]
 fn roundtrip_computing_vec(cloud: Vec<PointXYZB>) -> bool {
     let internal_msg = PointCloud2Msg::try_from_vec(cloud).unwrap();
     let total: f32 = internal_msg
@@ -339,7 +336,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("16k vec", |b| {
         b.iter(|| {
             black_box(roundtrip_vec(cloud_points_16k.clone()));
@@ -367,7 +363,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("16k vec_filter", |b| {
         b.iter(|| {
             roundtrip_filter_vec(black_box(cloud_points_16k.clone()));
@@ -395,7 +390,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("16k vec_compute", |b| {
         b.iter(|| {
             roundtrip_computing_vec(black_box(cloud_points_16k.clone()));
@@ -425,7 +419,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("60k vec", |b| {
         b.iter(|| {
             black_box(roundtrip_vec(cloud_points_60k.clone()));
@@ -455,7 +448,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("120k vec", |b| {
         b.iter(|| {
             black_box(roundtrip_vec(cloud_points_120k.clone()));
@@ -483,7 +475,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("120k vec_filter", |b| {
         b.iter(|| {
             roundtrip_filter_vec(black_box(cloud_points_120k.clone()));
@@ -511,7 +502,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("120k vec_compute", |b| {
         b.iter(|| {
             roundtrip_computing_vec(black_box(cloud_points_120k.clone()));
@@ -541,7 +531,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("500k vec", |b| {
         b.iter(|| {
             black_box(roundtrip_vec(cloud_points_500k.clone()));
@@ -569,7 +558,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("500k vec_filter", |b| {
         b.iter(|| {
             roundtrip_filter_vec(black_box(cloud_points_500k.clone()));
@@ -597,7 +585,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("500k vec_compute", |b| {
         b.iter(|| {
             roundtrip_computing_vec(black_box(cloud_points_500k.clone()));
@@ -627,7 +614,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("1.5m vec", |b| {
         b.iter(|| {
             black_box(roundtrip_vec(cloud_points_1_5m.clone()));
@@ -655,7 +641,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("1.5m vec_filter", |b| {
         b.iter(|| {
             roundtrip_filter_vec(black_box(cloud_points_1_5m.clone()));
@@ -683,7 +668,6 @@ fn roundtrip_benchmark(c: &mut Criterion) {
         })
     });
 
-    #[cfg(feature = "derive")]
     c.bench_function("1.5m vec_compute", |b| {
         b.iter(|| {
             roundtrip_computing_vec(black_box(cloud_points_1_5m.clone()));
diff --git a/rpcl2/examples/custom_enum_field_filter.rs b/rpcl2/examples/custom_enum_field_filter.rs
index 8336c7b..8dc5216 100644
--- a/rpcl2/examples/custom_enum_field_filter.rs
+++ b/rpcl2/examples/custom_enum_field_filter.rs
@@ -20,6 +20,7 @@ enum Label {
 // Define a custom point with an enum.
 // This is normally not supported by PointCloud2 but we will explain the library how to handle it.
 #[derive(Debug, PartialEq, Clone, Default)]
+#[repr(C)]
 struct CustomPoint {
     x: f32,
     y: f32,
@@ -96,6 +97,18 @@ impl Fields<5> for CustomPoint {
     }
 }
 
+// C representation of the struct hardcoded without using the derive feature.
+impl TypeLayout for CustomPoint {
+    fn layout() -> LayoutDescription {
+        LayoutDescription::new(&[
+            LayoutField::new("x", "f32", 4),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("intensity", "f32", 4),
+        ])
+    }
+}
+
 // We implemented everything that is needed for PointConvertible so we declare it as a done.
 #[cfg(not(feature = "derive"))]
 impl PointConvertible<5> for CustomPoint {}
diff --git a/rpcl2/src/lib.rs b/rpcl2/src/lib.rs
index f0347eb..d4a5ee4 100644
--- a/rpcl2/src/lib.rs
+++ b/rpcl2/src/lib.rs
@@ -3,8 +3,8 @@
 //! The library provides the [`PointCloud2Msg`] type, which implements conversions to and from `Vec` and (parallel) iterators.
 //!
 //! Vector conversions are optimized for direct copy. They are useful when you just move similar data around. They are usually a good default.
-//! - [`try_from_vec`](PointCloud2Msg::try_from_vec) requires `derive` feature (enabled by default)
-//! - [`try_into_vec`](PointCloud2Msg::try_into_vec) requires `derive` feature (enabled by default)
+//! - [`try_from_vec`](PointCloud2Msg::try_from_vec)
+//! - [`try_into_vec`](PointCloud2Msg::try_into_vec)
 //!
 //! You can use the iterator functions for more control over the conversion process.
 //! - [`try_from_iter`](PointCloud2Msg::try_from_iter)
@@ -106,6 +106,18 @@
 //! }
 //!
 //! #[cfg(not(feature = "derive"))]
+//! impl TypeLayout for MyPointXYZI {
+//!     fn layout() -> LayoutDescription {
+//!         LayoutDescription::new(&[
+//!             LayoutField::new("x", "f32", 4),
+//!             LayoutField::new("y", "f32", 4),
+//!             LayoutField::new("z", "f32", 4),
+//!             LayoutField::new("intensity", "f32", 4), // Use the original name.
+//!         ])
+//!     }
+//! }
+//!
+//! #[cfg(not(feature = "derive"))]
 //! impl PointConvertible<4> for MyPointXYZI {}
 //!
 //! let first_p = MyPointXYZI::new(1.0, 2.0, 3.0, 0.5);
@@ -149,6 +161,9 @@ pub mod iterator;
 use crate::ros::{HeaderMsg, PointFieldMsg};
 
 #[cfg(feature = "derive")]
+#[doc(hidden)]
+pub use memoffset;
+
 use core::str::FromStr;
 
 #[macro_use]
@@ -222,7 +237,6 @@ impl std::error::Error for MsgConversionError {
     }
 }
 
-#[cfg(feature = "derive")]
 fn system_endian() -> Endian {
     if cfg!(target_endian = "big") {
         Endian::Big
@@ -233,6 +247,43 @@ fn system_endian() -> Endian {
     }
 }
 
+/// Description of the memory layout of a type with named fields.
+#[derive(Clone, Debug)]
+pub struct LayoutDescription(Vec<LayoutField>);
+
+impl LayoutDescription {
+    pub fn new(fields: &[LayoutField]) -> Self {
+        Self(fields.to_vec())
+    }
+}
+
+/// Enum to describe the field type and size in a padded or unpadded layout.
+#[derive(Clone, Debug)]
+pub enum LayoutField {
+    Field {
+        name: alloc::borrow::Cow<'static, str>,
+        ty: alloc::borrow::Cow<'static, str>,
+        size: usize,
+    },
+    Padding {
+        size: usize,
+    },
+}
+
+impl LayoutField {
+    pub fn new(name: &'static str, ty: &'static str, size: usize) -> Self {
+        LayoutField::Field {
+            name: name.into(),
+            ty: ty.into(),
+            size,
+        }
+    }
+
+    pub fn padding(size: usize) -> Self {
+        LayoutField::Padding { size }
+    }
+}
+
 /// The intermediate point cloud type for ROS integrations.
 ///
 /// To assert consistency, the type should be build with the [`PointCloud2MsgBuilder`].
@@ -265,7 +316,6 @@ pub enum Denseness {
     Sparse,
 }
 
-#[cfg(feature = "derive")]
 enum ByteSimilarity {
     Equal,
     Overlapping,
@@ -421,7 +471,6 @@ pub struct CloudDimensions {
 }
 
 impl PointCloud2Msg {
-    #[cfg(feature = "derive")]
     #[inline]
     fn byte_similarity<const N: usize, C>(&self) -> Result<ByteSimilarity, MsgConversionError>
     where
@@ -433,7 +482,7 @@ impl PointCloud2Msg {
         let field_names = C::field_names_ordered();
         debug_assert!(field_names.len() == N);
 
-        let layout = TypeLayoutInfo::try_from(C::type_layout())?;
+        let layout = KnownLayoutInfo::try_from(C::layout())?;
         debug_assert!(field_names.len() == layout.fields.len());
 
         let mut offset: u32 = 0;
@@ -549,8 +598,8 @@ impl PointCloud2Msg {
     }
 
     /// Create a PointCloud2Msg from a parallel iterator. Requires the `rayon` and `derive` feature to be enabled.
-    #[cfg(all(feature = "rayon", feature = "derive"))]
-    #[cfg_attr(docsrs, doc(cfg(all(feature = "rayon", feature = "derive"))))]
+    #[cfg(feature = "rayon")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "rayon")))]
     pub fn try_from_par_iter<const N: usize, C>(
         iterable: impl rayon::iter::ParallelIterator<Item = C>,
     ) -> Result<Self, MsgConversionError>
@@ -577,8 +626,6 @@ impl PointCloud2Msg {
     ///
     /// # Errors
     /// Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies.
-    #[cfg(feature = "derive")]
-    #[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
     pub fn try_from_vec<const N: usize, C>(vec: Vec<C>) -> Result<Self, MsgConversionError>
     where
         C: PointConvertible<N>,
@@ -592,7 +639,7 @@ impl PointCloud2Msg {
                     let field_names = C::field_names_ordered();
                     debug_assert!(field_names.len() == N);
 
-                    let layout = TypeLayoutInfo::try_from(C::type_layout())?;
+                    let layout = KnownLayoutInfo::try_from(C::layout())?;
                     debug_assert!(field_names.len() == layout.fields.len());
 
                     let mut offset = 0;
@@ -666,8 +713,6 @@ impl PointCloud2Msg {
     ///
     /// # Errors
     /// Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies.
-    #[cfg(feature = "derive")]
-    #[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
     pub fn try_into_vec<const N: usize, C>(self) -> Result<Vec<C>, MsgConversionError>
     where
         C: PointConvertible<N>,
@@ -794,7 +839,23 @@ impl<const N: usize> From<[PointData; N]> for RPCL2Point<N> {
 
 /// Trait to enable point conversions on the fly.
 ///
-/// # Example
+/// Implement this trait for your custom point you want to read or write in the message.
+/// For a more convenient way to implement this trait, enable the `derive` feature and use the `#[derive(PointConvertible, TypeLayout)]` macro.
+///
+/// # Derive Example
+/// ```
+/// use ros_pointcloud2::prelude::*;
+///
+/// #[derive(Clone, Debug, PartialEq, Copy, Default)]
+/// pub struct MyPointXYZI {
+///     pub x: f32,
+///     pub y: f32,
+///     pub z: f32,
+///     pub intensity: f32,
+/// }
+/// ```
+///
+/// # Manual Example
 /// ```
 /// use ros_pointcloud2::prelude::*;
 ///
@@ -829,74 +890,21 @@ impl<const N: usize> From<[PointData; N]> for RPCL2Point<N> {
 ///   }
 /// }
 ///
-/// impl PointConvertible<4> for MyPointXYZI {}
-/// ```
-#[cfg_attr(docsrs, doc(cfg(not(feature = "derive"))))]
-#[cfg(not(feature = "derive"))]
-pub trait PointConvertible<const N: usize>:
-    From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Clone + Default
-{
-}
-
-/// Trait to enable point conversions on the fly.
-///
-/// Implement this trait for your custom point you want to read or write in the message.
-/// For a more convenient way to implement this trait, enable the `derive` feature and use the `#[derive(PointConvertible, TypeLayout)]` macro.
-///
-/// # Derive Example
-/// ```
-/// use ros_pointcloud2::prelude::*;
-///
-/// #[derive(Clone, Debug, PartialEq, Copy, Default, PointConvertible, TypeLayout)]
-/// pub struct MyPointXYZI {
-///     pub x: f32,
-///     pub y: f32,
-///     pub z: f32,
-///     pub intensity: f32,
-/// }
-/// ```
-///
-/// # Manual Example
-/// ```
-/// use ros_pointcloud2::prelude::*;
-///
-/// #[derive(Clone, Debug, PartialEq, Copy, Default, TypeLayout)]
-/// pub struct MyPointXYZI {
-///     pub x: f32,
-///     pub y: f32,
-///     pub z: f32,
-///     pub intensity: f32,
-/// }
-///
-/// impl From<MyPointXYZI> for RPCL2Point<4> {
-///     fn from(point: MyPointXYZI) -> Self {
-///         [point.x.into(), point.y.into(), point.z.into(), point.intensity.into()].into()
+/// impl TypeLayout for MyPointXYZI {
+///     fn layout() -> LayoutDescription {
+///         LayoutDescription::new(&[
+///             LayoutField::new("x", "f32", 4),
+///             LayoutField::new("y", "f32", 4),
+///             LayoutField::new("z", "f32", 4),
+///             LayoutField::new("intensity", "f32", 4),
+///         ])
 ///     }
 /// }
 ///
-/// impl From<RPCL2Point<4>> for MyPointXYZI {
-///     fn from(point: RPCL2Point<4>) -> Self {
-///         Self {
-///             x: point[0].get(),
-///             y: point[1].get(),
-///             z: point[2].get(),
-///             intensity: point[3].get(),
-///         }
-///     }
-/// }
-///
-/// impl Fields<4> for MyPointXYZI {
-///    fn field_names_ordered() -> [&'static str; 4] {
-///       ["x", "y", "z", "intensity"]
-///   }
-/// }
-///
 /// impl PointConvertible<4> for MyPointXYZI {}
 /// ```
-#[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
-#[cfg(feature = "derive")]
 pub trait PointConvertible<const N: usize>:
-    type_layout::TypeLayout + From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Default
+    TypeLayout + From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Default
 {
 }
 
@@ -927,24 +935,26 @@ pub trait Fields<const N: usize> {
     fn field_names_ordered() -> [&'static str; N];
 }
 
-#[cfg(feature = "derive")]
 enum PointField {
     Padding(u32),
     Field { size: u32, datatype: u8, count: u32 },
 }
 
-#[cfg(feature = "derive")]
-struct TypeLayoutInfo {
+struct KnownLayoutInfo {
     fields: Vec<PointField>,
 }
 
-#[cfg(feature = "derive")]
-impl TryFrom<type_layout::Field> for PointField {
+/// Trait to enable the layout description for the point type for direct copy operations.
+pub trait TypeLayout {
+    fn layout() -> LayoutDescription;
+}
+
+impl TryFrom<LayoutField> for PointField {
     type Error = MsgConversionError;
 
-    fn try_from(f: type_layout::Field) -> Result<Self, Self::Error> {
+    fn try_from(f: LayoutField) -> Result<Self, Self::Error> {
         match f {
-            type_layout::Field::Field { name: _, ty, size } => {
+            LayoutField::Field { name: _, ty, size } => {
                 let typename: String = ty.into_owned().to_lowercase();
                 let datatype = FieldDatatype::from_str(typename.as_str())?;
                 Ok(Self::Field {
@@ -953,21 +963,19 @@ impl TryFrom<type_layout::Field> for PointField {
                     count: 1,
                 })
             }
-            type_layout::Field::Padding { size } => Ok(Self::Padding(size.try_into()?)),
+            LayoutField::Padding { size } => Ok(Self::Padding(size.try_into()?)),
         }
     }
 }
 
-#[cfg(feature = "derive")]
-impl TryFrom<type_layout::TypeLayoutInfo> for TypeLayoutInfo {
+impl TryFrom<LayoutDescription> for KnownLayoutInfo {
     type Error = MsgConversionError;
 
-    fn try_from(t: type_layout::TypeLayoutInfo) -> Result<Self, Self::Error> {
-        let fields: Vec<PointField> = t
-            .fields
-            .into_iter()
-            .map(PointField::try_from)
-            .collect::<Result<Vec<_>, _>>()?;
+    fn try_from(t: LayoutDescription) -> Result<Self, Self::Error> {
+        let fields: Vec<PointField> =
+            t.0.into_iter()
+                .map(PointField::try_from)
+                .collect::<Result<Vec<_>, _>>()?;
         Ok(Self { fields })
     }
 }
diff --git a/rpcl2/src/points.rs b/rpcl2/src/points.rs
index 9c8d0af..be2d134 100644
--- a/rpcl2/src/points.rs
+++ b/rpcl2/src/points.rs
@@ -1,11 +1,5 @@
 //! Predefined point types commonly used in ROS.
-use crate::{Fields, PointConvertible, RPCL2Point};
-
-#[cfg(feature = "derive")]
-use type_layout::TypeLayout;
-
-#[cfg(feature = "derive")]
-use alloc::vec::Vec;
+use crate::{Fields, LayoutDescription, LayoutField, PointConvertible, RPCL2Point, TypeLayout};
 
 /// A packed RGB color encoding as used in ROS tools.
 #[derive(Clone, Copy)]
@@ -112,7 +106,6 @@ impl From<f32> for RGB {
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
 #[repr(C)]
 pub struct PointXYZ {
     pub x: f32,
@@ -120,6 +113,16 @@ pub struct PointXYZ {
     pub z: f32,
 }
 
+impl TypeLayout for PointXYZ {
+    fn layout() -> LayoutDescription {
+        LayoutDescription::new(&[
+            LayoutField::new("x", "f32", 4),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+        ])
+    }
+}
+
 #[cfg(feature = "nalgebra")]
 impl From<nalgebra::Point3<f32>> for PointXYZ {
     fn from(point: nalgebra::Point3<f32>) -> Self {
@@ -178,7 +181,6 @@ impl PointConvertible<3> for PointXYZ {}
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and an intensity value.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
 #[repr(C)]
 pub struct PointXYZI {
     pub x: f32,
@@ -187,6 +189,17 @@ pub struct PointXYZI {
     pub intensity: f32,
 }
 
+impl TypeLayout for PointXYZI {
+    fn layout() -> LayoutDescription {
+        LayoutDescription::new(&[
+            LayoutField::new("x", "f32", 4),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("intensity", "f32", 4),
+        ])
+    }
+}
+
 impl PointXYZI {
     pub fn new(x: f32, y: f32, z: f32, intensity: f32) -> Self {
         Self { x, y, z, intensity }
@@ -237,7 +250,6 @@ impl PointConvertible<4> for PointXYZI {}
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and a label.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
 #[repr(C)]
 pub struct PointXYZL {
     pub x: f32,
@@ -246,6 +258,17 @@ pub struct PointXYZL {
     pub label: u32,
 }
 
+impl TypeLayout for PointXYZL {
+    fn layout() -> LayoutDescription {
+        LayoutDescription::new(&[
+            LayoutField::new("x", "f32", 4),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("label", "u32", 4),
+        ])
+    }
+}
+
 impl PointXYZL {
     pub fn new(x: f32, y: f32, z: f32, label: u32) -> Self {
         Self { x, y, z, label }
@@ -296,7 +319,6 @@ impl PointConvertible<4> for PointXYZL {}
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and an RGB color value.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
 #[repr(C)]
 pub struct PointXYZRGB {
     pub x: f32,
@@ -305,6 +327,17 @@ pub struct PointXYZRGB {
     pub rgb: RGB,
 }
 
+impl TypeLayout for PointXYZRGB {
+    fn layout() -> LayoutDescription {
+        LayoutDescription::new(&[
+            LayoutField::new("x", "f32", 4),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("rgb", "RGB", 4),
+        ])
+    }
+}
+
 impl PointXYZRGB {
     #[must_use]
     pub fn new(x: f32, y: f32, z: f32, r: u8, g: u8, b: u8) -> Self {
@@ -373,7 +406,6 @@ impl PointConvertible<4> for PointXYZRGB {}
 /// This is a 3D point with x, y, z coordinates and an RGBA color value.
 /// The alpha channel is commonly used as padding but this crate uses every channel and no padding.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
 #[repr(C)]
 pub struct PointXYZRGBA {
     pub x: f32,
@@ -383,6 +415,19 @@ pub struct PointXYZRGBA {
     pub a: u8,
 }
 
+impl TypeLayout for PointXYZRGBA {
+    fn layout() -> LayoutDescription {
+        LayoutDescription::new(&[
+            LayoutField::new("x", "f32", 4),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("rgb", "RGB", 4),
+            LayoutField::new("a", "u8", 1),
+            LayoutField::padding(3),
+        ])
+    }
+}
+
 impl PointXYZRGBA {
     #[must_use]
     pub fn new(x: f32, y: f32, z: f32, r: u8, g: u8, b: u8, a: u8) -> Self {
@@ -452,7 +497,6 @@ impl PointConvertible<5> for PointXYZRGBA {}
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates, an RGB color value and a normal vector.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
 #[repr(C)]
 pub struct PointXYZRGBNormal {
     pub x: f32,
@@ -464,6 +508,20 @@ pub struct PointXYZRGBNormal {
     pub normal_z: f32,
 }
 
+impl TypeLayout for PointXYZRGBNormal {
+    fn layout() -> LayoutDescription {
+        LayoutDescription::new(&[
+            LayoutField::new("x", "f32", 4),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("rgb", "RGB", 4),
+            LayoutField::new("normal_x", "f32", 4),
+            LayoutField::new("normal_y", "f32", 4),
+            LayoutField::new("normal_z", "f32", 4),
+        ])
+    }
+}
+
 impl PointXYZRGBNormal {
     #[must_use]
     pub fn new(
@@ -552,7 +610,6 @@ impl PointConvertible<7> for PointXYZRGBNormal {}
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates, an intensity value and a normal vector.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
 #[repr(C)]
 pub struct PointXYZINormal {
     pub x: f32,
@@ -564,6 +621,20 @@ pub struct PointXYZINormal {
     pub normal_z: f32,
 }
 
+impl TypeLayout for PointXYZINormal {
+    fn layout() -> LayoutDescription {
+        LayoutDescription::new(&[
+            LayoutField::new("x", "f32", 4),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("intensity", "f32", 4),
+            LayoutField::new("normal_x", "f32", 4),
+            LayoutField::new("normal_y", "f32", 4),
+            LayoutField::new("normal_z", "f32", 4),
+        ])
+    }
+}
+
 impl PointXYZINormal {
     #[must_use]
     pub fn new(
@@ -637,7 +708,6 @@ impl PointConvertible<7> for PointXYZINormal {}
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and a label.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
 #[repr(C)]
 pub struct PointXYZRGBL {
     pub x: f32,
@@ -647,6 +717,18 @@ pub struct PointXYZRGBL {
     pub label: u32,
 }
 
+impl TypeLayout for PointXYZRGBL {
+    fn layout() -> LayoutDescription {
+        LayoutDescription::new(&[
+            LayoutField::new("x", "f32", 4),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("rgb", "RGB", 4),
+            LayoutField::new("label", "u32", 4),
+        ])
+    }
+}
+
 unsafe impl Send for PointXYZRGBL {}
 unsafe impl Sync for PointXYZRGBL {}
 
@@ -722,7 +804,6 @@ impl PointConvertible<5> for PointXYZRGBL {}
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and a normal vector.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
 #[repr(C)]
 pub struct PointXYZNormal {
     pub x: f32,
@@ -733,6 +814,19 @@ pub struct PointXYZNormal {
     pub normal_z: f32,
 }
 
+impl TypeLayout for PointXYZNormal {
+    fn layout() -> LayoutDescription {
+        LayoutDescription::new(&[
+            LayoutField::new("x", "f32", 4),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("normal_x", "f32", 4),
+            LayoutField::new("normal_y", "f32", 4),
+            LayoutField::new("normal_z", "f32", 4),
+        ])
+    }
+}
+
 impl PointXYZNormal {
     #[must_use]
     pub fn new(x: f32, y: f32, z: f32, normal_x: f32, normal_y: f32, normal_z: f32) -> Self {
diff --git a/rpcl2/src/prelude.rs b/rpcl2/src/prelude.rs
index fd746fa..a1c3903 100644
--- a/rpcl2/src/prelude.rs
+++ b/rpcl2/src/prelude.rs
@@ -1,7 +1,7 @@
 //! Commonly used types and traits for predefined and custom point conversions.
 pub use crate::{
-    FieldDatatype, Fields, FromBytes, GetFieldDatatype, MsgConversionError, PointCloud2Msg,
-    PointConvertible, PointDataBuffer, RPCL2Point,
+    FieldDatatype, Fields, FromBytes, GetFieldDatatype, LayoutDescription, LayoutField,
+    MsgConversionError, PointCloud2Msg, PointConvertible, PointDataBuffer, RPCL2Point, TypeLayout,
 };
 
 pub use crate::points::*;
@@ -10,8 +10,5 @@ pub use crate::ros::*;
 #[cfg(feature = "rayon")]
 pub use rayon::prelude::*;
 
-#[cfg(feature = "derive")]
-pub use type_layout::TypeLayout;
-
 #[cfg(feature = "derive")]
 pub use rpcl2_derive::*;
diff --git a/rpcl2/tests/e2e_test.rs b/rpcl2/tests/e2e_test.rs
index 69fb781..ab91996 100644
--- a/rpcl2/tests/e2e_test.rs
+++ b/rpcl2/tests/e2e_test.rs
@@ -9,7 +9,6 @@ macro_rules! convert_from_into {
     };
 }
 
-#[cfg(feature = "derive")]
 macro_rules! convert_from_into_vec {
     ($point:ty, $cloud:expr) => {
         convert_from_into_in_out_cloud_vec!($cloud, $point, $cloud, $point);
@@ -30,7 +29,6 @@ macro_rules! convert_from_into_in_out_cloud {
     };
 }
 
-#[cfg(feature = "derive")]
 macro_rules! convert_from_into_in_out_cloud_vec {
     ($in_cloud:expr, $in_point:ty, $out_cloud:expr, $out_point:ty) => {
         let msg = PointCloud2Msg::try_from_vec($in_cloud.clone());
@@ -59,7 +57,6 @@ fn write_cloud() {
 }
 
 #[test]
-#[cfg(feature = "derive")]
 fn write_cloud_from_vec() {
     let cloud = vec![
         PointXYZ::new(0.0, 1.0, 5.0),
@@ -73,7 +70,6 @@ fn write_cloud_from_vec() {
 }
 
 #[test]
-#[cfg(feature = "derive")]
 fn write_empty_cloud_vec() {
     let cloud: Vec<PointXYZ> = vec![];
     let msg = PointCloud2Msg::try_from_vec(cloud);
@@ -90,7 +86,7 @@ fn write_empty_cloud_iter() {
 }
 
 #[test]
-#[cfg(all(feature = "derive", feature = "rayon"))]
+#[cfg(feature = "rayon")]
 fn conv_cloud_par_iter() {
     let cloud = vec![
         PointXYZ::new(0.0, 1.0, 5.0),
@@ -110,7 +106,7 @@ fn conv_cloud_par_iter() {
 }
 
 #[test]
-#[cfg(all(feature = "derive", feature = "rayon"))]
+#[cfg(feature = "rayon")]
 fn conv_cloud_par_par_iter() {
     let cloud = vec![
         PointXYZ::new(0.0, 1.0, 5.0),
@@ -375,7 +371,6 @@ fn converterxyzrgb() {
 }
 
 #[test]
-#[cfg(feature = "derive")]
 fn converterxyzrgb_from_vec() {
     convert_from_into_vec!(
         PointXYZRGB,
@@ -433,7 +428,6 @@ fn write_xyzi_read_xyz() {
 }
 
 #[test]
-#[cfg(feature = "derive")]
 fn write_xyzi_read_xyz_vec() {
     let write_cloud = vec![
         PointXYZI::new(0.0, 1.0, 5.0, 0.0),
@@ -533,36 +527,3 @@ fn write_less_than_available() {
 
     convert_from_into_in_out_cloud!(write_cloud, CustomPoint, read_cloud, CustomPoint);
 }
-
-#[test]
-#[cfg(feature = "derive")]
-#[allow(unused_variables)]
-fn readme() {
-    use ros_pointcloud2::prelude::*;
-
-    // PointXYZ (and many others) are provided by the crate.
-    let cloud_points = vec![
-        PointXYZI::new(91.486, -4.1, 42.0001, 0.1),
-        PointXYZI::new(f32::MAX, f32::MIN, f32::MAX, f32::MIN),
-    ];
-
-    let out_msg = PointCloud2Msg::try_from_vec(cloud_points).unwrap();
-
-    // Convert the ROS crate message type, we will use r2r here.
-    // let msg: r2r::sensor_msgs::msg::PointCloud2 = out_msg.into();
-    // Publish ...
-    // ... now incoming from a topic.
-    // let in_msg: PointCloud2Msg = msg.into();
-    let in_msg = out_msg;
-
-    let processed_cloud = in_msg
-        .try_into_iter()
-        .unwrap()
-        .map(|point: PointXYZ| {
-            // Define the info you want to have from the Msg.
-            // Some logic here ...
-
-            point
-        })
-        .collect::<Vec<_>>();
-}