diff --git a/.github/workflows/roslibrust_noetic.yml b/.github/workflows/roslibrust_noetic.yml
new file mode 100644
index 0000000..1c671f0
--- /dev/null
+++ b/.github/workflows/roslibrust_noetic.yml
@@ -0,0 +1,108 @@
+name: roslibrust_noetic
+
+on:
+  push:
+    branches-ignore:
+      - rclrs
+  pull_request:
+    branches-ignore:
+      - rclrs
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+    env:
+      ROS_CI_DESKTOP: "`lsb_release -cs`" # e.g. [trusty|xenial|...]
+      # CI_SOURCE_PATH: $(pwd)
+      ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall
+      CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options
+      ROS_PARALLEL_JOBS: "-j8 -l6"
+      # Set the python path manually to include /usr/-/python2.7/dist-packages
+      # as this is where apt-get installs python packages.
+      PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
+      ROS_DISTRO: noetic
+    steps:
+      - name: roslibrust
+        uses: actions/checkout@v1
+      - name: Install latest rust
+        run: |
+          curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | sh -s -- -y
+          rustc --version
+          cargo --version
+      - name: Configure ROS for install
+        run: |
+          sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+          sudo apt-get update -qq
+          sudo apt-get install dpkg
+          sudo apt-get install -y libyaml-cpp-dev
+      - name: Install ROS basic packages
+        run: |
+          sudo apt-get install -y python3-catkin-pkg
+          sudo apt-get install -y python3-catkin-tools
+          sudo apt-get install -y python3-rosdep
+          sudo apt-get install -y python3-wstool
+          sudo apt-get install -y python3-osrf-pycommon
+          sudo apt-get install -y ros-cmake-modules
+          sudo apt-get install -y ros-$ROS_DISTRO-ros-base
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          sudo rosdep init
+          rosdep update  # --include-eol-distros  # Support EOL distros.
+      - name: Install ROS additional packages
+        # Does installing these mean roslibrust_msg builds more messages, which is a better
+        # check?  Or does it just slow down the action?
+        run: |
+          sudo apt-get install -y ros-$ROS_DISTRO-actionlib
+          sudo apt-get install -y ros-$ROS_DISTRO-actionlib-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-camera-info-manager
+          sudo apt-get install -y ros-$ROS_DISTRO-compressed-image-transport
+          sudo apt-get install -y ros-$ROS_DISTRO-catkin
+          sudo apt-get install -y ros-$ROS_DISTRO-class-loader
+          sudo apt-get install -y ros-$ROS_DISTRO-cmake-modules
+          sudo apt-get install -y ros-$ROS_DISTRO-cv-bridge
+          sudo apt-get install -y ros-$ROS_DISTRO-dynamic-reconfigure
+          sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure
+          # Not in noetic yet
+          # sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure-python
+          sudo apt-get install -y ros-$ROS_DISTRO-eigen-conversions
+          sudo apt-get install -y ros-$ROS_DISTRO-geometry-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-genmsg
+          sudo apt-get install -y ros-$ROS_DISTRO-image-geometry
+          sudo apt-get install -y ros-$ROS_DISTRO-image-proc
+          sudo apt-get install -y ros-$ROS_DISTRO-image-transport
+          sudo apt-get install -y ros-$ROS_DISTRO-message-generation
+          sudo apt-get install -y ros-$ROS_DISTRO-message-runtime
+          # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core
+          # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-topic-tools
+          # sudo apt-get install -y ros-$ROS_DISTRO-pcl-conversions
+          # sudo apt-get install -y ros-$ROS_DISTRO-pcl-ros
+          sudo apt-get install -y ros-$ROS_DISTRO-pluginlib
+          sudo apt-get install -y ros-$ROS_DISTRO-roscpp
+          sudo apt-get install -y ros-$ROS_DISTRO-roslib
+          sudo apt-get install -y ros-$ROS_DISTRO-roslint
+          sudo apt-get install -y ros-$ROS_DISTRO-rospy
+          sudo apt-get install -y ros-$ROS_DISTRO-rospy-message-converter
+          sudo apt-get install -y ros-$ROS_DISTRO-rostest
+          sudo apt-get install -y ros-$ROS_DISTRO-sensor-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-std-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-tf
+          sudo apt-get install -y ros-$ROS_DISTRO-tf-conversions
+          sudo apt-get install -y ros-$ROS_DISTRO-tf2-geometry-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-tf2-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-tf2-py
+          sudo apt-get install -y ros-$ROS_DISTRO-tf2-ros
+          sudo apt-get install -y ros-$ROS_DISTRO-tf2-sensor-msgs
+      - name: build
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          ROS_PACKAGE_PATH=`rospack find geometry_msgs`:`rospack find tf2_msgs`:`rospack find sensor_msgs`:`rospack find std_msgs`:`rospack find actionlib_msgs` cargo build  # --verbose
+      - name: Install ROS packages for tests
+        run: |
+          sudo apt-get install -y ros-$ROS_DISTRO-actionlib-tutorials
+          sudo apt-get install -y ros-$ROS_DISTRO-roscpp-tutorials
+          sudo apt-get install -y ros-$ROS_DISTRO-rospy-tutorials
+      - name: test
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          ROS_PACKAGE_PATH=`rospack find geometry_msgs`:`rospack find tf2_msgs`:`rospack find sensor_msgs`:`rospack find std_msgs`:`rospack find actionlib_msgs` cargo test --features roslibrust_msg,derive,nalgebra,rayon
diff --git a/rpcl2/Cargo.toml b/rpcl2/Cargo.toml
index 61559b8..043a19e 100644
--- a/rpcl2/Cargo.toml
+++ b/rpcl2/Cargo.toml
@@ -38,6 +38,19 @@ rayon = { version = "1", optional = true }
 nalgebra = { version = "0.33", optional = true, default-features = false }
 rpcl2-derive = { version = "0.4", optional = true, path = "../rpcl2-derive" }
 
+[dependencies.roslibrust]
+version = "0.10.2"
+optional = true
+features = ["ros1"]
+
+[dependencies.roslibrust_codegen]
+version = "0.10"
+optional = true
+
+[dependencies.roslibrust_codegen_macro]
+version = "0.10"
+optional = true
+
 [dev-dependencies]
 rand = "0.8"
 criterion = { version = "0.5", features = ["html_reports"] }
@@ -49,6 +62,7 @@ harness = false
 path = "benches/roundtrip.rs"
 
 [features]
+roslibrust_msg = ["dep:roslibrust", "dep:roslibrust_codegen", "dep:roslibrust_codegen_macro"]
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
diff --git a/rpcl2/src/ros.rs b/rpcl2/src/ros.rs
index b2b395b..3cffda2 100644
--- a/rpcl2/src/ros.rs
+++ b/rpcl2/src/ros.rs
@@ -25,6 +25,9 @@
 
 use alloc::string::String;
 
+#[cfg(feature = "roslibrust_msg")]
+roslibrust_codegen_macro::find_and_generate_ros_messages!();
+
 /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.
 #[derive(Clone, Debug, Default)]
 pub struct TimeMsg {
@@ -32,6 +35,16 @@ pub struct TimeMsg {
     pub nanosec: u32,
 }
 
+#[cfg(feature = "roslibrust_msg")]
+impl From<roslibrust_codegen::Time> for TimeMsg {
+    fn from(time: roslibrust_codegen::Time) -> Self {
+        Self {
+            sec: time.secs as i32,
+            nanosec: time.nsecs,
+        }
+    }
+}
+
 #[cfg(feature = "rosrust_msg")]
 impl From<rosrust::Time> for TimeMsg {
     fn from(time: rosrust::Time) -> Self {
@@ -151,6 +164,90 @@ impl From<crate::PointCloud2Msg> for r2r::sensor_msgs::msg::PointCloud2 {
     }
 }
 
+#[cfg(feature = "roslibrust_msg")]
+impl From<sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
+    fn from(msg: sensor_msgs::PointCloud2) -> Self {
+        Self {
+            header: HeaderMsg {
+                seq: msg.header.seq,
+                stamp: TimeMsg {
+                    sec: msg.header.stamp.secs as i32,
+                    nanosec: msg.header.stamp.nsecs,
+                },
+                frame_id: msg.header.frame_id,
+            },
+            dimensions: crate::CloudDimensions {
+                width: msg.width,
+                height: msg.height,
+            },
+            fields: msg
+                .fields
+                .into_iter()
+                .map(|field| PointFieldMsg {
+                    name: field.name,
+                    offset: field.offset,
+                    datatype: field.datatype,
+                    count: field.count,
+                })
+                .collect(),
+            endian: if msg.is_bigendian {
+                crate::Endian::Big
+            } else {
+                crate::Endian::Little
+            },
+            point_step: msg.point_step,
+            row_step: msg.row_step,
+            data: msg.data,
+            dense: if msg.is_dense {
+                crate::Denseness::Dense
+            } else {
+                crate::Denseness::Sparse
+            },
+        }
+    }
+}
+
+#[cfg(feature = "roslibrust_msg")]
+impl From<crate::PointCloud2Msg> for sensor_msgs::PointCloud2 {
+    fn from(msg: crate::PointCloud2Msg) -> Self {
+        sensor_msgs::PointCloud2 {
+            header: std_msgs::Header {
+                seq: msg.header.seq,
+                stamp: roslibrust_codegen::Time {
+                    secs: msg.header.stamp.sec as u32,
+                    nsecs: msg.header.stamp.nanosec,
+                },
+                frame_id: msg.header.frame_id,
+            },
+            height: msg.dimensions.height,
+            width: msg.dimensions.width,
+            fields: msg
+                .fields
+                .into_iter()
+                .map(|field| sensor_msgs::PointField {
+                    name: field.name,
+                    offset: field.offset,
+                    datatype: field.datatype,
+                    count: field.count,
+                })
+                .collect(),
+            is_bigendian: if msg.endian == crate::Endian::Big {
+                true
+            } else {
+                false
+            },
+            point_step: msg.point_step,
+            row_step: msg.row_step,
+            data: msg.data,
+            is_dense: if msg.dense == crate::Denseness::Dense {
+                true
+            } else {
+                false
+            },
+        }
+    }
+}
+
 #[cfg(feature = "rosrust_msg")]
 impl From<rosrust_msg::sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
     fn from(msg: rosrust_msg::sensor_msgs::PointCloud2) -> Self {