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Here is an example, explanation, pre-built micro-ROS static library, and a simple tutorial on how to re-build micro-ROS by yourself:
I am sure the micro-ROS team will do a much better job with the new Raspberry Pi microcontroller. However, I was impatient to see how it works 
As an update on the topic: @lukicdarkoo has generously consented to fork the repo to our organization, of which he’s the official maintainer! A great honour for us
Meanwhile, we’re anxiously waiting for the Arduino Nano RP2040 to be delivered to the thirsty masses, so we can provide an alternative port of micro-ROS to the brand new Raspi Pi Pico via our successful integration w/ the Arduino ecosystem. Stay tuned!