Dear Anshul,
additional to the micro-ROS website, we are developing the rclc-API as a ROS 2 package.
Regarding ROS 2 in general, we are also planning to extend the default ROS 2 Executor to make it more efficient, deterministic and real-time capable. A good starting point for these topics is the Executor Workshop at ROS World, Oct 2021 which also describes a reference system. You find a documentation about ROS 2 Executors on docs.ros.org. These topics are discussed in the Real-Time working group as well as in the Middleware working group. Embedded topics are discussed in the Embedded Working Group. See ROS Events Calendar for next meetings. Feel free to join.