diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 1389ad8aeb..3c271b20c6 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -245,6 +245,18 @@ if(BUILD_TESTING)
     "test_msgs"
   )
   target_link_libraries(test_loaned_message ${PROJECT_NAME})
+  ament_add_gtest(test_intra_process_communication test/test_intra_process_communication.cpp
+    TIMEOUT 120)
+  if(TARGET test_intra_process_communication)
+    ament_target_dependencies(test_intra_process_communication
+      "rcl"
+      "rcl_interfaces"
+      "rmw"
+      "rosidl_typesupport_cpp"
+      "test_msgs"
+    )
+  endif()
+  target_link_libraries(test_intra_process_communication ${PROJECT_NAME})
 
   ament_add_gtest(test_node test/test_node.cpp TIMEOUT 240)
   if(TARGET test_node)
diff --git a/rclcpp/include/rclcpp/create_publisher.hpp b/rclcpp/include/rclcpp/create_publisher.hpp
index 811c18b69f..c4ac38ece0 100644
--- a/rclcpp/include/rclcpp/create_publisher.hpp
+++ b/rclcpp/include/rclcpp/create_publisher.hpp
@@ -40,9 +40,10 @@ template<
   typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
   typename NodeT>
 std::shared_ptr<PublisherT>
-create_publisher(
+create_generic_publisher(
   NodeT & node,
   const std::string & topic_name,
+  const rosidl_message_type_support_t & type_support,
   const rclcpp::QoS & qos,
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
@@ -56,7 +57,7 @@ create_publisher(
   // Create the publisher.
   auto pub = node_topics->create_publisher(
     topic_name,
-    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options),
+    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options, type_support),
     qos
   );
 
@@ -66,6 +67,28 @@ create_publisher(
   return std::dynamic_pointer_cast<PublisherT>(pub);
 }
 
+template<
+  typename MessageT,
+  typename AllocatorT = std::allocator<void>,
+  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
+  typename NodeT>
+std::shared_ptr<PublisherT>
+create_publisher(
+  NodeT & node,
+  const std::string & topic_name,
+  const rclcpp::QoS & qos,
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
+  )
+)
+{
+  const auto type_support = *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>();
+
+  return create_generic_publisher<MessageT, AllocatorT, PublisherT, NodeT>(
+    node, topic_name, type_support,
+    qos, options);
+}
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CREATE_PUBLISHER_HPP_
diff --git a/rclcpp/include/rclcpp/create_subscription.hpp b/rclcpp/include/rclcpp/create_subscription.hpp
index 9248254047..7ccc77d9e4 100644
--- a/rclcpp/include/rclcpp/create_subscription.hpp
+++ b/rclcpp/include/rclcpp/create_subscription.hpp
@@ -48,9 +48,10 @@ template<
   >,
   typename NodeT>
 typename std::shared_ptr<SubscriptionT>
-create_subscription(
+create_generic_subscription(
   NodeT && node,
   const std::string & topic_name,
+  const rosidl_message_type_support_t & type_support,
   const rclcpp::QoS & qos,
   CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
@@ -67,7 +68,8 @@ create_subscription(
   auto factory = rclcpp::create_subscription_factory<MessageT>(
     std::forward<CallbackT>(callback),
     options,
-    msg_mem_strat
+    msg_mem_strat,
+    type_support
   );
 
   auto sub = node_topics->create_subscription(topic_name, factory, qos);
@@ -76,6 +78,42 @@ create_subscription(
   return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }
 
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename AllocatorT = std::allocator<void>,
+  typename CallbackMessageT =
+  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >,
+  typename NodeT>
+typename std::shared_ptr<SubscriptionT>
+create_subscription(
+  NodeT && node,
+  const std::string & topic_name,
+  const rclcpp::QoS & qos,
+  CallbackT && callback,
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
+  ),
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
+    MessageMemoryStrategyT::create_default()
+  )
+)
+{
+  const auto type_support = *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>();
+
+  return
+    create_generic_subscription<
+    MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT, MessageMemoryStrategyT
+    >(
+    std::forward<NodeT>(node), topic_name, type_support, qos, std::forward<CallbackT>(
+      callback), options, msg_mem_strat);
+}
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CREATE_SUBSCRIPTION_HPP_
diff --git a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
index d671de701e..04508af46e 100644
--- a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
+++ b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
@@ -110,11 +110,14 @@ class IntraProcessManager
    * In addition this generates a unique intra process id for the subscription.
    *
    * \param subscription the SubscriptionIntraProcess to register.
+   * \param is_serialized true if the buffer expects serialized messages
    * \return an unsigned 64-bit integer which is the subscription's unique id.
    */
   RCLCPP_PUBLIC
   uint64_t
-  add_subscription(rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription);
+  add_subscription(
+    rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription,
+    const bool is_serialized = false);
 
   /// Unregister a subscription using the subscription's unique id.
   /**
@@ -134,11 +137,12 @@ class IntraProcessManager
    * In addition this generates a unique intra process id for the publisher.
    *
    * \param publisher publisher to be registered with the manager.
+   * \param is_serialized true if the buffer expects serialized messages
    * \return an unsigned 64-bit integer which is the publisher's unique id.
    */
   RCLCPP_PUBLIC
   uint64_t
-  add_publisher(rclcpp::PublisherBase::SharedPtr publisher);
+  add_publisher(rclcpp::PublisherBase::SharedPtr publisher, const bool is_serialized = false);
 
   /// Unregister a publisher using the publisher's unique id.
   /**
@@ -311,6 +315,7 @@ class IntraProcessManager
     rmw_qos_profile_t qos;
     const char * topic_name;
     bool use_take_shared_method;
+    bool is_serialized;
   };
 
   struct PublisherInfo
@@ -320,6 +325,7 @@ class IntraProcessManager
     rclcpp::PublisherBase::WeakPtr publisher;
     rmw_qos_profile_t qos;
     const char * topic_name;
+    bool is_serialized;
   };
 
   struct SplittedSubscriptions
diff --git a/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp b/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
index 618db3cac1..0172b0d036 100644
--- a/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
+++ b/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
@@ -28,6 +28,8 @@
 #include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
 #include "rclcpp/experimental/create_intra_process_buffer.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
+#include "rclcpp/serialization.hpp"
+#include "rclcpp/serialized_message.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/waitable.hpp"
 #include "tracetools/tracetools.h"
@@ -37,6 +39,8 @@ namespace rclcpp
 namespace experimental
 {
 
+class SerializedMessage;
+
 template<
   typename MessageT,
   typename Alloc = std::allocator<void>,
@@ -51,6 +55,10 @@ class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
   using MessageAlloc = typename MessageAllocTraits::allocator_type;
   using ConstMessageSharedPtr = std::shared_ptr<const MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
+  using CallbackMessageAllocTraits = allocator::AllocRebind<CallbackMessageT, Alloc>;
+  using CallbackMessageAlloc = typename CallbackMessageAllocTraits::allocator_type;
+  using CallbackMessageUniquePtr = std::unique_ptr<CallbackMessageT>;
+  using CallbackMessageSharedPtr = std::shared_ptr<CallbackMessageT>;
 
   using BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
     MessageT,
@@ -64,11 +72,15 @@ class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
     rclcpp::Context::SharedPtr context,
     const std::string & topic_name,
     rmw_qos_profile_t qos_profile,
-    rclcpp::IntraProcessBufferType buffer_type)
+    rclcpp::IntraProcessBufferType buffer_type,
+    std::shared_ptr<SerializationBase> serializer)
   : SubscriptionIntraProcessBase(topic_name, qos_profile),
-    any_callback_(callback)
+    any_callback_(callback), serializer_(serializer)
   {
-    if (!std::is_same<MessageT, CallbackMessageT>::value) {
+    if (!std::is_same<MessageT, CallbackMessageT>::value &&
+      !std::is_same<MessageT, rclcpp::SerializedMessage>::value &&
+      !std::is_same<CallbackMessageT, rcl_serialized_message_t>::value)
+    {
       throw std::runtime_error("SubscriptionIntraProcess wrong callback type");
     }
 
@@ -142,18 +154,47 @@ class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
     (void)ret;
   }
 
+  // convert from ROS2 message to rcl_serialized_message_t (serilizatino needed)
   template<typename T>
-  typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value, void>::type
+  typename std::enable_if<
+    std::is_same<T, rcl_serialized_message_t>::value &&
+    !std::is_same<MessageT, rclcpp::SerializedMessage>::value,
+    void>::type
   execute_impl()
   {
-    throw std::runtime_error("Subscription intra-process can't handle serialized messages");
+    if (nullptr == serializer_) {
+      throw std::runtime_error("Subscription intra-process can't handle serialized messages");
+    }
+
+    rmw_message_info_t msg_info = {};
+    msg_info.from_intra_process = true;
+
+    ConstMessageSharedPtr msg = buffer_->consume_shared();
+    auto serialized_msg =
+      serializer_->serialize_message(reinterpret_cast<const void *>(msg.get()));
+
+    if (nullptr == serialized_msg) {
+      throw std::runtime_error("Subscription intra-process could not serialize message");
+    }
+
+    if (any_callback_.use_take_shared_method()) {
+      any_callback_.dispatch_intra_process(serialized_msg, msg_info);
+    } else {
+      throw std::runtime_error(
+              "Subscription intra-process for serialized "
+              "messages does not support unique pointers.");
+    }
   }
 
+  // forward from ROS2 message to ROS2 message (same type)
   template<class T>
-  typename std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value, void>::type
+  typename std::enable_if<
+    !std::is_same<T, rcl_serialized_message_t>::value &&
+    !std::is_same<MessageT, rclcpp::SerializedMessage>::value,
+    void>::type
   execute_impl()
   {
-    rmw_message_info_t msg_info;
+    rmw_message_info_t msg_info = {};
     msg_info.publisher_gid = {0, {0}};
     msg_info.from_intra_process = true;
 
@@ -166,8 +207,80 @@ class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
     }
   }
 
+  // forward from rcl_serialized_message_t to SerializationMessage (no conversion needed)
+  template<typename T>
+  typename std::enable_if<
+    std::is_same<T, rcl_serialized_message_t>::value &&
+    std::is_same<MessageT, rclcpp::SerializedMessage>::value,
+    void>::type
+  execute_impl()
+  {
+    rmw_message_info_t msg_info = {};
+    msg_info.from_intra_process = true;
+
+    if (any_callback_.use_take_shared_method()) {
+      ConstMessageSharedPtr msg = buffer_->consume_shared();
+      if (msg == nullptr) {
+        throw std::runtime_error("Subscription intra-process could not get serialized message");
+      }
+      any_callback_.dispatch_intra_process(msg, msg_info);
+    } else {
+      throw std::runtime_error(
+              "Subscription intra-process for serialized "
+              "messages does not support unique pointers.");
+    }
+  }
+
+  // convert from rcl_serialized_message_t to ROS2 message (deserialization needed)
+  template<class T>
+  typename std::enable_if<
+    !std::is_same<T, rcl_serialized_message_t>::value &&
+    std::is_same<MessageT, rclcpp::SerializedMessage>::value,
+    void>::type
+  execute_impl()
+  {
+    if (nullptr == serializer_) {
+      throw std::runtime_error("Subscription intra-process can't handle unserialized messages");
+    }
+
+    ConstMessageSharedPtr serialized_container = buffer_->consume_shared();
+    if (nullptr == serialized_container) {
+      throw std::runtime_error("Subscription intra-process could not get serialized message");
+    }
+
+    rmw_message_info_t msg_info = {};
+    msg_info.from_intra_process = true;
+
+    if (any_callback_.use_take_shared_method()) {
+      CallbackMessageSharedPtr msg = construct_unique();
+      serializer_->deserialize_message(
+        serialized_container.get(),
+        reinterpret_cast<void *>(msg.get()));
+      any_callback_.dispatch_intra_process(msg, msg_info);
+    } else {
+      CallbackMessageUniquePtr msg = construct_unique();
+      serializer_->deserialize_message(
+        serialized_container.get(),
+        reinterpret_cast<void *>(msg.get()));
+      any_callback_.dispatch_intra_process(std::move(msg), msg_info);
+    }
+  }
+
+  CallbackMessageUniquePtr construct_unique()
+  {
+    CallbackMessageUniquePtr unique_msg;
+    auto ptr = CallbackMessageAllocTraits::allocate(*message_allocator_.get(), 1);
+    CallbackMessageAllocTraits::construct(*message_allocator_.get(), ptr);
+    unique_msg = CallbackMessageUniquePtr(ptr);
+
+    return unique_msg;
+  }
+
   AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
   BufferUniquePtr buffer_;
+  std::shared_ptr<SerializationBase> serializer_;
+  std::shared_ptr<CallbackMessageAlloc> message_allocator_ =
+    std::make_shared<CallbackMessageAlloc>();
 };
 
 }  // namespace experimental
diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index aa614e3a0c..fd53e727d1 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -56,6 +56,12 @@ class Publisher : public PublisherBase
   using MessageDeleter = allocator::Deleter<MessageAllocator, MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
   using MessageSharedPtr = std::shared_ptr<const MessageT>;
+  using SerializedMessageAllocatorTraits =
+    allocator::AllocRebind<rclcpp::SerializedMessage,
+      AllocatorT>;
+  using SerializedMessageAllocator = typename SerializedMessageAllocatorTraits::allocator_type;
+  using SerializedMessageDeleter = allocator::Deleter<SerializedMessageAllocator,
+      rclcpp::SerializedMessage>;
 
   RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, AllocatorT>)
 
@@ -70,37 +76,28 @@ class Publisher : public PublisherBase
       *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
       options.template to_rcl_publisher_options<MessageT>(qos)),
     options_(options),
-    message_allocator_(new MessageAllocator(*options.get_allocator().get()))
+    message_allocator_(new MessageAllocator(*options.get_allocator().get())),
+    message_allocator_serialized_(new SerializedMessageAllocator(*options.get_allocator().get()))
   {
-    allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
+    init_setup();
+  }
 
-    if (options_.event_callbacks.deadline_callback) {
-      this->add_event_handler(
-        options_.event_callbacks.deadline_callback,
-        RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
-    }
-    if (options_.event_callbacks.liveliness_callback) {
-      this->add_event_handler(
-        options_.event_callbacks.liveliness_callback,
-        RCL_PUBLISHER_LIVELINESS_LOST);
-    }
-    if (options_.event_callbacks.incompatible_qos_callback) {
-      this->add_event_handler(
-        options_.event_callbacks.incompatible_qos_callback,
-        RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
-    } else if (options_.use_default_callbacks) {
-      // Register default callback when not specified
-      try {
-        this->add_event_handler(
-          [this](QOSOfferedIncompatibleQoSInfo & info) {
-            this->default_incompatible_qos_callback(info);
-          },
-          RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
-      } catch (UnsupportedEventTypeException & /*exc*/) {
-        // pass
-      }
-    }
-    // Setup continues in the post construction method, post_init_setup().
+  Publisher(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic,
+    const rclcpp::QoS & qos,
+    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options,
+    const rosidl_message_type_support_t & type_support)
+  : PublisherBase(
+      node_base,
+      topic,
+      type_support,
+      options.template to_rcl_publisher_options<MessageT>(qos)),
+    options_(options),
+    message_allocator_(new MessageAllocator(*options.get_allocator().get())),
+    message_allocator_serialized_(new SerializedMessageAllocator(*options.get_allocator().get()))
+  {
+    init_setup();
   }
 
   /// Called post construction, so that construction may continue after shared_from_this() works.
@@ -135,8 +132,11 @@ class Publisher : public PublisherBase
                 "intraprocess communication allowed only with volatile durability");
       }
       uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this());
+      uint64_t intra_process_publisher_id_serialized = ipm->add_publisher(
+        this->shared_from_this(), true);
       this->setup_intra_process(
         intra_process_publisher_id,
+        intra_process_publisher_id_serialized,
         ipm);
     }
   }
@@ -173,6 +173,11 @@ class Publisher : public PublisherBase
   virtual void
   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
   {
+    if (std::is_same<MessageT, rcl_serialized_message_t>::value) {
+      this->template publish<MessageDeleter>(std::move(msg));
+      return;
+    }
+
     if (!intra_process_is_enabled_) {
       this->do_inter_process_publish(*msg);
       return;
@@ -187,34 +192,41 @@ class Publisher : public PublisherBase
       get_subscription_count() > get_intra_process_subscription_count();
 
     if (inter_process_publish_needed) {
-      auto shared_msg = this->do_intra_process_publish_and_return_shared(std::move(msg));
+      auto shared_msg = this->do_intra_process_publish_and_return_shared(
+        std::move(msg), message_allocator_);
       this->do_inter_process_publish(*shared_msg);
     } else {
-      this->do_intra_process_publish(std::move(msg));
+      this->do_intra_process_publish(std::move(msg), message_allocator_);
     }
   }
 
   virtual void
   publish(const MessageT & msg)
   {
-    // Avoid allocating when not using intra process.
-    if (!intra_process_is_enabled_) {
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(msg);
-    }
-    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
-    // As the message is not const, a copy should be made.
-    // A shared_ptr<const MessageT> could also be constructed here.
-    auto ptr = MessageAllocatorTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocatorTraits::construct(*message_allocator_.get(), ptr, msg);
-    MessageUniquePtr unique_msg(ptr, message_deleter_);
-    this->publish(std::move(unique_msg));
+    this->do_publish_message(msg);
   }
 
-  void
+  template<class T = MessageT>
+  typename std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value>::type
   publish(const rcl_serialized_message_t & serialized_msg)
   {
-    return this->do_serialized_publish(&serialized_msg);
+    this->do_publish_message<rcl_serialized_message_t>(serialized_msg);
+  }
+
+  /// Publish a serialized message. Non specialized version to prevent compiling errors.
+  template<typename TDeleter, typename T>
+  void publish(std::unique_ptr<T, TDeleter> serialized_msg)
+  {
+    (void)serialized_msg;
+    throw std::runtime_error(
+            "publishing unique_ptr with custom deleter only supported for serialized messages");
+  }
+
+  /// Publish a serialized message.
+  template<typename TDeleter>
+  void publish(std::unique_ptr<rcl_serialized_message_t, TDeleter> serialized_msg)
+  {
+    this->do_serialized_publish(*serialized_msg);
   }
 
   /// Publish an instance of a LoanedMessage.
@@ -259,6 +271,69 @@ class Publisher : public PublisherBase
   }
 
 protected:
+  void init_setup()
+  {
+    allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
+
+    if (options_.event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.deadline_callback,
+        RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
+    }
+    if (options_.event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.liveliness_callback,
+        RCL_PUBLISHER_LIVELINESS_LOST);
+    }
+    if (options_.event_callbacks.incompatible_qos_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.incompatible_qos_callback,
+        RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
+    } else if (options_.use_default_callbacks) {
+      // Register default callback when not specified
+      try {
+        this->add_event_handler(
+          [this](QOSOfferedIncompatibleQoSInfo & info) {
+            this->default_incompatible_qos_callback(info);
+          },
+          RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
+      } catch (UnsupportedEventTypeException & /*exc*/) {
+        RCLCPP_WARN_ONCE(
+          rclcpp::get_logger(rcl_node_get_logger_name(rcl_node_handle_.get())),
+          "This rmw implementation does not support ON_OFFERED_INCOMPATIBLE_QOS "
+          "events, you will not be notified when Publishers offer an incompatible "
+          "QoS profile to Subscriptions on the same topic.");
+      }
+    }
+    // Setup continues in the post construction method, post_init_setup().
+  }
+
+  template<class T = MessageT>
+  typename std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value>::type
+  do_publish_message(const T & msg)
+  {
+    // Avoid allocating when not using intra process.
+    if (!intra_process_is_enabled_) {
+      // In this case we're not using intra process.
+      return this->do_inter_process_publish(msg);
+    }
+    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
+    // As the message is not const, a copy should be made.
+    // A shared_ptr<const MessageT> could also be constructed here.
+    auto ptr = MessageAllocatorTraits::allocate(*message_allocator_.get(), 1);
+    MessageAllocatorTraits::construct(*message_allocator_.get(), ptr, msg);
+    MessageUniquePtr unique_msg(ptr, message_deleter_);
+    this->publish(std::move(unique_msg));
+  }
+
+  template<class T = MessageT>
+  typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value>::type
+  do_publish_message(const T & msg)
+  {
+    // Kept for backwards compatibility. Copies compelete memory!
+    this->publish(std::make_unique<rclcpp::SerializedMessage>(msg));
+  }
+
   void
   do_inter_process_publish(const MessageT & msg)
   {
@@ -280,15 +355,24 @@ class Publisher : public PublisherBase
   }
 
   void
-  do_serialized_publish(const rcl_serialized_message_t * serialized_msg)
+  do_serialized_publish(rcl_serialized_message_t serialized_msg)
   {
-    if (intra_process_is_enabled_) {
-      // TODO(Karsten1987): support serialized message passed by intraprocess
-      throw std::runtime_error("storing serialized messages in intra process is not supported yet");
+    bool inter_process_publish_needed =
+      get_subscription_count() > get_intra_process_subscription_count();
+
+    if (inter_process_publish_needed) {
+      // declare here to avoid deletion before returning method
+      auto status = rcl_publish_serialized_message(&publisher_handle_, &serialized_msg, nullptr);
+      if (RCL_RET_OK != status) {
+        rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish serialized message");
+      }
     }
-    auto status = rcl_publish_serialized_message(&publisher_handle_, serialized_msg, nullptr);
-    if (RCL_RET_OK != status) {
-      rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish serialized message");
+
+    auto msg = std::make_unique<rclcpp::SerializedMessage>(
+      std::move(serialized_msg));
+
+    if (intra_process_is_enabled_) {
+      do_intra_process_publish(std::move(msg), message_allocator_serialized_);
     }
   }
 
@@ -312,8 +396,11 @@ class Publisher : public PublisherBase
     }
   }
 
+  template<typename T, typename Deleter, typename Allocator>
   void
-  do_intra_process_publish(std::unique_ptr<MessageT, MessageDeleter> msg)
+  do_intra_process_publish(
+    std::unique_ptr<T, Deleter> msg,
+    std::shared_ptr<Allocator> & message_allocator)
   {
     auto ipm = weak_ipm_.lock();
     if (!ipm) {
@@ -324,14 +411,21 @@ class Publisher : public PublisherBase
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
 
-    ipm->template do_intra_process_publish<MessageT, AllocatorT>(
-      intra_process_publisher_id_,
+    const uint64_t intra_process_publisher_id = std::is_same<T,
+        rclcpp::SerializedMessage>::value ?
+      intra_process_publisher_id_serialized_ : intra_process_publisher_id_;
+
+    ipm->template do_intra_process_publish<T, AllocatorT>(
+      intra_process_publisher_id,
       std::move(msg),
-      message_allocator_);
+      message_allocator);
   }
 
-  std::shared_ptr<const MessageT>
-  do_intra_process_publish_and_return_shared(std::unique_ptr<MessageT, MessageDeleter> msg)
+  template<typename T, typename Deleter, typename Allocator>
+  std::shared_ptr<const T>
+  do_intra_process_publish_and_return_shared(
+    std::unique_ptr<T, Deleter> msg,
+    std::shared_ptr<Allocator> & message_allocator)
   {
     auto ipm = weak_ipm_.lock();
     if (!ipm) {
@@ -342,10 +436,14 @@ class Publisher : public PublisherBase
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
 
-    return ipm->template do_intra_process_publish_and_return_shared<MessageT, AllocatorT>(
-      intra_process_publisher_id_,
+    const uint64_t intra_process_publisher_id = std::is_same<T,
+        rclcpp::SerializedMessage>::value ?
+      intra_process_publisher_id_serialized_ : intra_process_publisher_id_;
+
+    return ipm->template do_intra_process_publish_and_return_shared<T, AllocatorT>(
+      intra_process_publisher_id,
       std::move(msg),
-      message_allocator_);
+      message_allocator);
   }
 
   /// Copy of original options passed during construction.
@@ -356,6 +454,7 @@ class Publisher : public PublisherBase
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> options_;
 
   std::shared_ptr<MessageAllocator> message_allocator_;
+  std::shared_ptr<SerializedMessageAllocator> message_allocator_serialized_;
 
   MessageDeleter message_deleter_;
 };
diff --git a/rclcpp/include/rclcpp/publisher_base.hpp b/rclcpp/include/rclcpp/publisher_base.hpp
index 9627acaa4a..4f678ec0bb 100644
--- a/rclcpp/include/rclcpp/publisher_base.hpp
+++ b/rclcpp/include/rclcpp/publisher_base.hpp
@@ -191,6 +191,7 @@ class PublisherBase : public std::enable_shared_from_this<PublisherBase>
   void
   setup_intra_process(
     uint64_t intra_process_publisher_id,
+    uint64_t intra_process_publisher_id_serialized,
     IntraProcessManagerSharedPtr ipm);
 
 protected:
@@ -222,6 +223,7 @@ class PublisherBase : public std::enable_shared_from_this<PublisherBase>
   bool intra_process_is_enabled_;
   IntraProcessManagerWeakPtr weak_ipm_;
   uint64_t intra_process_publisher_id_;
+  uint64_t intra_process_publisher_id_serialized_;
 
   rmw_gid_t rmw_gid_;
 };
diff --git a/rclcpp/include/rclcpp/publisher_factory.hpp b/rclcpp/include/rclcpp/publisher_factory.hpp
index 87def3cc17..f287d8e49d 100644
--- a/rclcpp/include/rclcpp/publisher_factory.hpp
+++ b/rclcpp/include/rclcpp/publisher_factory.hpp
@@ -63,17 +63,21 @@ struct PublisherFactory
 /// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, AllocatorT>.
 template<typename MessageT, typename AllocatorT, typename PublisherT>
 PublisherFactory
-create_publisher_factory(const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+create_publisher_factory(
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options,
+  const rosidl_message_type_support_t & type_support)
 {
   PublisherFactory factory {
     // factory function that creates a MessageT specific PublisherT
-    [options](
+    [options, type_support](
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
       const rclcpp::QoS & qos
     ) -> std::shared_ptr<PublisherT>
     {
-      auto publisher = std::make_shared<PublisherT>(node_base, topic_name, qos, options);
+      auto publisher = std::make_shared<PublisherT>(
+        node_base, topic_name, qos, options,
+        type_support);
       // This is used for setting up things like intra process comms which
       // require this->shared_from_this() which cannot be called from
       // the constructor.
diff --git a/rclcpp/include/rclcpp/serialization.hpp b/rclcpp/include/rclcpp/serialization.hpp
new file mode 100644
index 0000000000..ddc122cb43
--- /dev/null
+++ b/rclcpp/include/rclcpp/serialization.hpp
@@ -0,0 +1,123 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__SERIALIZATION_HPP_
+#define RCLCPP__SERIALIZATION_HPP_
+
+#include <rmw/rmw.h>
+
+#include <memory>
+#include <string>
+
+#include "rcl/error_handling.h"
+
+namespace rclcpp
+{
+
+/// Interface to (de)serialize a message
+class SerializationBase
+{
+public:
+  virtual ~SerializationBase() = default;
+
+  /// Serialize a ROS2 message to a serialized stream
+  /**
+   * \param[in] message The ROS2 message which is read and serialized by rmw.
+   */
+  virtual std::shared_ptr<rcl_serialized_message_t> serialize_message(const void * message) = 0;
+
+  /// Deserialize a serialized stream to a ROS message
+  /**
+   * \param[in] serialized_message The serialized message to be converted to ROS2 by rmw.
+   * \param[out] message The deserialized ROS2 message.
+   */
+  virtual void deserialize_message(
+    const rcl_serialized_message_t * serialized_message,
+    void * msg) = 0;
+};
+
+/// Default implementation to (de)serialize a message by using rmw_(de)serialize
+class Serialization : public SerializationBase
+{
+public:
+  Serialization(
+    const rosidl_message_type_support_t & type_support,
+    const rcutils_allocator_t allocator = rcutils_get_default_allocator())
+  : type_support_(type_support), rcutils_allocator_(allocator)
+  {}
+
+  std::shared_ptr<rcl_serialized_message_t> serialize_message(const void * message) override
+  {
+    auto serialized_message = new rcl_serialized_message_t;
+    *serialized_message = rmw_get_zero_initialized_serialized_message();
+    const auto ret = rmw_serialized_message_init(serialized_message, 0, &rcutils_allocator_);
+    if (ret != RCUTILS_RET_OK) {
+      throw std::runtime_error(
+              "Error allocating resources for serialized message: " +
+              std::string(rcutils_get_error_string().str));
+    }
+
+    if (nullptr == message) {
+      delete serialized_message;
+      throw std::runtime_error("Message is nullpointer while serialization.");
+    }
+
+    const auto error = rmw_serialize(
+      message,
+      &type_support_,
+      serialized_message);
+    if (error != RCL_RET_OK) {
+      delete serialized_message;
+      throw std::runtime_error("Failed to serialize.");
+    }
+
+    auto shared_serialized_msg = std::shared_ptr<rcl_serialized_message_t>(
+      serialized_message,
+      [](rcl_serialized_message_t * msg) {
+        auto fini_ret = rmw_serialized_message_fini(msg);
+        delete msg;
+        if (fini_ret != RCL_RET_OK) {
+          RCUTILS_LOG_ERROR_NAMED(
+            "rclcpp",
+            "Failed to destroy serialized message: %s", rcl_get_error_string().str);
+        }
+      });
+
+    return shared_serialized_msg;
+  }
+
+  void deserialize_message(const rcl_serialized_message_t * serialized_message, void * msg) override
+  {
+    if (nullptr == serialized_message ||
+      serialized_message->buffer_capacity == 0 ||
+      serialized_message->buffer_length == 0 ||
+      !serialized_message->buffer)
+    {
+      throw std::runtime_error("Failed to deserialize nullptr serialized message.");
+    }
+
+    const auto ret = rmw_deserialize(serialized_message, &type_support_, msg);
+    if (ret != RMW_RET_OK) {
+      throw std::runtime_error("Failed to deserialize serialized message.");
+    }
+  }
+
+private:
+  rosidl_message_type_support_t type_support_;
+  rcutils_allocator_t rcutils_allocator_;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__SERIALIZATION_HPP_
diff --git a/rclcpp/include/rclcpp/serialized_message.hpp b/rclcpp/include/rclcpp/serialized_message.hpp
new file mode 100644
index 0000000000..8e4dbf837f
--- /dev/null
+++ b/rclcpp/include/rclcpp/serialized_message.hpp
@@ -0,0 +1,80 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__SERIALIZED_MESSAGE_HPP_
+#define RCLCPP__SERIALIZED_MESSAGE_HPP_
+
+#include <rclcpp/exceptions.hpp>
+
+#include <cstring>
+
+#include "rcutils/logging_macros.h"
+
+#include "rmw/serialized_message.h"
+
+namespace rclcpp
+{
+
+/// Object oriented version of rcl_serialized_message_t with destructor to avoid memory leaks
+class SerializedMessage : public rcl_serialized_message_t
+{
+public:
+  SerializedMessage()
+  : rcl_serialized_message_t(rmw_get_zero_initialized_serialized_message())
+  {}
+
+  explicit SerializedMessage(const SerializedMessage & serialized_message)
+  : SerializedMessage(static_cast<const rcl_serialized_message_t>(serialized_message))
+  {}
+
+  explicit SerializedMessage(const rcl_serialized_message_t & serialized_message)
+  : rcl_serialized_message_t(rmw_get_zero_initialized_serialized_message())
+  {
+    const auto ret = rmw_serialized_message_init(
+      this, serialized_message.buffer_length,
+      &serialized_message.allocator);
+    if (ret != RCL_RET_OK) {
+      rclcpp::exceptions::throw_from_rcl_error(ret);
+    }
+
+    // do not call memcpy if the pointer is "static"
+    if (buffer != serialized_message.buffer) {
+      std::memcpy(buffer, serialized_message.buffer, serialized_message.buffer_length);
+    }
+    buffer_length = serialized_message.buffer_length;
+  }
+
+  explicit SerializedMessage(rcl_serialized_message_t && msg)
+  : rcl_serialized_message_t(msg)
+  {
+    // reset buffer to prevent double free
+    msg = rmw_get_zero_initialized_serialized_message();
+  }
+
+  ~SerializedMessage()
+  {
+    if (nullptr != buffer) {
+      const auto fini_ret = rmw_serialized_message_fini(this);
+      if (fini_ret != RCL_RET_OK) {
+        RCUTILS_LOG_ERROR_NAMED(
+          "rclcpp",
+          "Failed to destroy serialized message: %s", rcl_get_error_string().str);
+      }
+    }
+  }
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__SERIALIZED_MESSAGE_HPP_
diff --git a/rclcpp/include/rclcpp/subscription.hpp b/rclcpp/include/rclcpp/subscription.hpp
index 2b5172dc1b..9568027e9e 100644
--- a/rclcpp/include/rclcpp/subscription.hpp
+++ b/rclcpp/include/rclcpp/subscription.hpp
@@ -41,6 +41,7 @@
 #include "rclcpp/message_info.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/serialized_message.hpp"
 #include "rclcpp/subscription_base.hpp"
 #include "rclcpp/subscription_options.hpp"
 #include "rclcpp/subscription_traits.hpp"
@@ -155,29 +156,84 @@ class Subscription : public SubscriptionBase
                 "intraprocess communication allowed only with volatile durability");
       }
 
-      // First create a SubscriptionIntraProcess which will be given to the intra-process manager.
-      auto context = node_base->get_context();
-      using SubscriptionIntraProcessT = rclcpp::experimental::SubscriptionIntraProcess<
-        CallbackMessageT,
-        AllocatorT,
-        typename MessageUniquePtr::deleter_type>;
-      auto subscription_intra_process = std::make_shared<SubscriptionIntraProcessT>(
-        callback,
-        options.get_allocator(),
-        context,
-        this->get_topic_name(),  // important to get like this, as it has the fully-qualified name
-        qos_profile,
-        resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback));
-      TRACEPOINT(
-        rclcpp_subscription_init,
-        (const void *)get_subscription_handle().get(),
-        (const void *)subscription_intra_process.get());
-
-      // Add it to the intra process manager.
       using rclcpp::experimental::IntraProcessManager;
+      uint64_t intra_process_subscription_id;
+      uint64_t intra_process_subscription_id_serialized;
+
+      auto context = node_base->get_context();
       auto ipm = context->get_sub_context<IntraProcessManager>();
-      uint64_t intra_process_subscription_id = ipm->add_subscription(subscription_intra_process);
-      this->setup_intra_process(intra_process_subscription_id, ipm);
+
+      {
+        // First create a SubscriptionIntraProcess which will be given to the intra-process manager.
+        auto subscription_intra_process = std::make_shared<
+          rclcpp::experimental::SubscriptionIntraProcess<
+            CallbackMessageT,
+            AllocatorT,
+            typename MessageUniquePtr::deleter_type
+          >>(
+          callback,
+          options.get_allocator(),
+          context,
+          this->get_topic_name(),  // important to get it by the fully-qualified name
+          qos.get_rmw_qos_profile(),
+          resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback),
+          std::make_shared<rclcpp::Serialization>(
+            type_support_handle,
+            options.template to_rcl_subscription_options<CallbackMessageT>(qos).allocator)
+          );
+        TRACEPOINT(
+          rclcpp_subscription_init,
+          (const void *)get_subscription_handle().get(),
+          (const void *)subscription_intra_process.get());
+
+        // Add it to the intra process manager.
+        intra_process_subscription_id = ipm->add_subscription(subscription_intra_process);
+      }
+
+      {
+        using SerializedMessageAllocatorTraits =
+          allocator::AllocRebind<rclcpp::SerializedMessage,
+            AllocatorT>;
+        using SerializedMessageAllocator =
+          typename SerializedMessageAllocatorTraits::allocator_type;
+        using SerializedMessageDeleter = allocator::Deleter<SerializedMessageAllocator,
+            rclcpp::SerializedMessage>;
+        using SerializedMessageUniquePtr =
+          std::unique_ptr<rclcpp::SerializedMessage,
+            SerializedMessageDeleter>;
+
+        // First create a SubscriptionIntraProcess which will be given to the intra-process manager.
+        auto subscription_intra_process = std::make_shared<
+          rclcpp::experimental::SubscriptionIntraProcess<
+            rclcpp::SerializedMessage,
+            AllocatorT,
+            typename SerializedMessageUniquePtr::deleter_type,
+            CallbackMessageT
+          >>(
+          callback,
+          options.get_allocator(),
+          context,
+          this->get_topic_name(),    // important to get it by the fully-qualified name
+          qos.get_rmw_qos_profile(),
+          resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback),
+          std::make_shared<rclcpp::Serialization>(
+            type_support_handle,
+            options.template to_rcl_subscription_options<CallbackMessageT>(qos).allocator)
+          );
+        TRACEPOINT(
+          rclcpp_subscription_init,
+          (const void *)get_subscription_handle().get(),
+          (const void *)subscription_intra_process.get());
+
+        // Add it to the intra process manager.
+        intra_process_subscription_id_serialized = ipm->add_subscription(
+          subscription_intra_process,
+          true);
+      }
+
+      this->setup_intra_process(
+        {intra_process_subscription_id,
+          intra_process_subscription_id_serialized}, ipm);
     }
 
     TRACEPOINT(
diff --git a/rclcpp/include/rclcpp/subscription_base.hpp b/rclcpp/include/rclcpp/subscription_base.hpp
index 7ee8c624d1..707c0b419a 100644
--- a/rclcpp/include/rclcpp/subscription_base.hpp
+++ b/rclcpp/include/rclcpp/subscription_base.hpp
@@ -228,13 +228,13 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   RCLCPP_PUBLIC
   void
   setup_intra_process(
-    uint64_t intra_process_subscription_id,
+    const std::vector<uint64_t> & intra_process_subscription_ids,
     IntraProcessManagerWeakPtr weak_ipm);
 
   /// Return the waitable for intra-process, or nullptr if intra-process is not setup.
   RCLCPP_PUBLIC
-  rclcpp::Waitable::SharedPtr
-  get_intra_process_waitable() const;
+  std::vector<rclcpp::Waitable::SharedPtr>
+  get_intra_process_waitables() const;
 
   /// Exchange state of whether or not a part of the subscription is used by a wait set.
   /**
@@ -286,7 +286,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
 
   bool use_intra_process_;
   IntraProcessManagerWeakPtr weak_ipm_;
-  uint64_t intra_process_subscription_id_;
+  std::vector<uint64_t> intra_process_subscription_ids_;
 
 private:
   RCLCPP_DISABLE_COPY(SubscriptionBase)
diff --git a/rclcpp/include/rclcpp/subscription_factory.hpp b/rclcpp/include/rclcpp/subscription_factory.hpp
index a0f265c803..67d2272a99 100644
--- a/rclcpp/include/rclcpp/subscription_factory.hpp
+++ b/rclcpp/include/rclcpp/subscription_factory.hpp
@@ -78,7 +78,8 @@ SubscriptionFactory
 create_subscription_factory(
   CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat,
+  const rosidl_message_type_support_t & type_support)
 {
   auto allocator = options.get_allocator();
 
@@ -88,7 +89,7 @@ create_subscription_factory(
 
   SubscriptionFactory factory {
     // factory function that creates a MessageT specific SubscriptionT
-    [options, msg_mem_strat, any_subscription_callback](
+    [options, msg_mem_strat, any_subscription_callback, type_support](
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
       const rclcpp::QoS & qos
@@ -99,7 +100,7 @@ create_subscription_factory(
 
       auto sub = Subscription<CallbackMessageT, AllocatorT>::make_shared(
         node_base,
-        *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
+        type_support,
         topic_name,
         qos,
         any_subscription_callback,
diff --git a/rclcpp/include/rclcpp/wait_set_template.hpp b/rclcpp/include/rclcpp/wait_set_template.hpp
index 899d461ed3..96e67f0a2b 100644
--- a/rclcpp/include/rclcpp/wait_set_template.hpp
+++ b/rclcpp/include/rclcpp/wait_set_template.hpp
@@ -165,18 +165,19 @@ class WaitSetTemplate final : private SynchronizationPolicy, private StoragePoli
         }
         if (mask.include_intra_process_waitable) {
           auto local_subscription = inner_subscription;
-          auto waitable = inner_subscription->get_intra_process_waitable();
-          if (nullptr != waitable) {
-            bool already_in_use = local_subscription->exchange_in_use_by_wait_set_state(
-              waitable.get(),
-              true);
-            if (already_in_use) {
-              throw std::runtime_error(
-                "subscription intra-process waitable already associated with a wait set");
+          for (auto waitable : inner_subscription->get_intra_process_waitables()) {
+            if (nullptr != waitable) {
+              bool already_in_use = local_subscription->exchange_in_use_by_wait_set_state(
+                waitable.get(),
+                true);
+              if (already_in_use) {
+                throw std::runtime_error(
+                  "subscription intra-process waitable already associated with a wait set");
+              }
+              this->storage_add_waitable(
+                std::move(waitable),
+                std::move(local_subscription));
             }
-            this->storage_add_waitable(
-              std::move(inner_subscription->get_intra_process_waitable()),
-              std::move(local_subscription));
           }
         }
       });
@@ -230,11 +231,12 @@ class WaitSetTemplate final : private SynchronizationPolicy, private StoragePoli
           }
         }
         if (mask.include_intra_process_waitable) {
-          auto local_waitable = inner_subscription->get_intra_process_waitable();
-          inner_subscription->exchange_in_use_by_wait_set_state(local_waitable.get(), false);
-          if (nullptr != local_waitable) {
-            // This is the case when intra process is disabled for the subscription.
-            this->storage_remove_waitable(std::move(local_waitable));
+          for (auto local_waitable : inner_subscription->get_intra_process_waitables()) {
+            inner_subscription->exchange_in_use_by_wait_set_state(local_waitable.get(), false);
+            if (nullptr != local_waitable) {
+              // This is the case when intra process is disabled for the subscription.
+              this->storage_remove_waitable(std::move(local_waitable));
+            }
           }
         }
       });
diff --git a/rclcpp/src/rclcpp/intra_process_manager.cpp b/rclcpp/src/rclcpp/intra_process_manager.cpp
index 0b9c9d6670..3b0b4d1e19 100644
--- a/rclcpp/src/rclcpp/intra_process_manager.cpp
+++ b/rclcpp/src/rclcpp/intra_process_manager.cpp
@@ -32,7 +32,9 @@ IntraProcessManager::~IntraProcessManager()
 {}
 
 uint64_t
-IntraProcessManager::add_publisher(rclcpp::PublisherBase::SharedPtr publisher)
+IntraProcessManager::add_publisher(
+  rclcpp::PublisherBase::SharedPtr publisher,
+  const bool is_serialized)
 {
   std::unique_lock<std::shared_timed_mutex> lock(mutex_);
 
@@ -41,6 +43,7 @@ IntraProcessManager::add_publisher(rclcpp::PublisherBase::SharedPtr publisher)
   publishers_[id].publisher = publisher;
   publishers_[id].topic_name = publisher->get_topic_name();
   publishers_[id].qos = publisher->get_actual_qos().get_rmw_qos_profile();
+  publishers_[id].is_serialized = is_serialized;
 
   // Initialize the subscriptions storage for this publisher.
   pub_to_subs_[id] = SplittedSubscriptions();
@@ -56,7 +59,9 @@ IntraProcessManager::add_publisher(rclcpp::PublisherBase::SharedPtr publisher)
 }
 
 uint64_t
-IntraProcessManager::add_subscription(SubscriptionIntraProcessBase::SharedPtr subscription)
+IntraProcessManager::add_subscription(
+  SubscriptionIntraProcessBase::SharedPtr subscription,
+  const bool is_serialized)
 {
   std::unique_lock<std::shared_timed_mutex> lock(mutex_);
 
@@ -66,6 +71,7 @@ IntraProcessManager::add_subscription(SubscriptionIntraProcessBase::SharedPtr su
   subscriptions_[id].topic_name = subscription->get_topic_name();
   subscriptions_[id].qos = subscription->get_actual_qos();
   subscriptions_[id].use_take_shared_method = subscription->use_take_shared_method();
+  subscriptions_[id].is_serialized = is_serialized;
 
   // adds the subscription id to all the matchable publishers
   for (auto & pair : publishers_) {
@@ -220,6 +226,13 @@ IntraProcessManager::can_communicate(
     return false;
   }
 
+  // a publisher and a subscription with different content type can't communicate
+  // if is_serialized is true, the expected message typ is rcl_serialized_message_t
+  // otherwise the templated ROS2 message type
+  if (sub_info.is_serialized != pub_info.is_serialized) {
+    return false;
+  }
+
   return true;
 }
 
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_topics.cpp b/rclcpp/src/rclcpp/node_interfaces/node_topics.cpp
index 11de4a3278..9cb84d3cce 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_topics.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_topics.cpp
@@ -99,10 +99,12 @@ NodeTopics::add_subscription(
     callback_group->add_waitable(subscription_event);
   }
 
-  auto intra_process_waitable = subscription->get_intra_process_waitable();
-  if (nullptr != intra_process_waitable) {
-    // Add to the callback group to be notified about intra-process msgs.
-    callback_group->add_waitable(intra_process_waitable);
+  const auto intra_process_waitables = subscription->get_intra_process_waitables();
+  for (auto & intra_process_waitable : intra_process_waitables) {
+    if (nullptr != intra_process_waitable) {
+      // Add to the callback group to be notified about intra-process msgs.
+      callback_group->add_waitable(intra_process_waitable);
+    }
   }
 
   // Notify the executor that a new subscription was created using the parent Node.
diff --git a/rclcpp/src/rclcpp/publisher_base.cpp b/rclcpp/src/rclcpp/publisher_base.cpp
index c982a95d33..0f2258881a 100644
--- a/rclcpp/src/rclcpp/publisher_base.cpp
+++ b/rclcpp/src/rclcpp/publisher_base.cpp
@@ -44,7 +44,8 @@ PublisherBase::PublisherBase(
   const rosidl_message_type_support_t & type_support,
   const rcl_publisher_options_t & publisher_options)
 : rcl_node_handle_(node_base->get_shared_rcl_node_handle()),
-  intra_process_is_enabled_(false), intra_process_publisher_id_(0)
+  intra_process_is_enabled_(false), intra_process_publisher_id_(0),
+  intra_process_publisher_id_serialized_(0)
 {
   rcl_ret_t ret = rcl_publisher_init(
     &publisher_handle_,
@@ -105,6 +106,7 @@ PublisherBase::~PublisherBase()
     return;
   }
   ipm->remove_publisher(intra_process_publisher_id_);
+  ipm->remove_publisher(intra_process_publisher_id_serialized_);
 }
 
 const char *
@@ -238,9 +240,11 @@ PublisherBase::operator==(const rmw_gid_t * gid) const
 void
 PublisherBase::setup_intra_process(
   uint64_t intra_process_publisher_id,
+  uint64_t intra_process_publisher_id_serialized,
   IntraProcessManagerSharedPtr ipm)
 {
   intra_process_publisher_id_ = intra_process_publisher_id;
+  intra_process_publisher_id_serialized_ = intra_process_publisher_id_serialized;
   weak_ipm_ = ipm;
   intra_process_is_enabled_ = true;
 }
diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp
index 2af068e32e..1d24adf71a 100644
--- a/rclcpp/src/rclcpp/subscription_base.cpp
+++ b/rclcpp/src/rclcpp/subscription_base.cpp
@@ -39,7 +39,6 @@ SubscriptionBase::SubscriptionBase(
 : node_base_(node_base),
   node_handle_(node_base_->get_shared_rcl_node_handle()),
   use_intra_process_(false),
-  intra_process_subscription_id_(0),
   type_support_(type_support_handle),
   is_serialized_(is_serialized)
 {
@@ -93,7 +92,9 @@ SubscriptionBase::~SubscriptionBase()
       "Intra process manager died before than a subscription.");
     return;
   }
-  ipm->remove_subscription(intra_process_subscription_id_);
+  for (auto intra_process_subscription_id : intra_process_subscription_ids_) {
+    ipm->remove_subscription(intra_process_subscription_id);
+  }
 }
 
 const char *
@@ -204,10 +205,10 @@ SubscriptionBase::get_publisher_count() const
 
 void
 SubscriptionBase::setup_intra_process(
-  uint64_t intra_process_subscription_id,
+  const std::vector<uint64_t> & intra_process_subscription_ids,
   IntraProcessManagerWeakPtr weak_ipm)
 {
-  intra_process_subscription_id_ = intra_process_subscription_id;
+  intra_process_subscription_ids_ = intra_process_subscription_ids;
   weak_ipm_ = weak_ipm;
   use_intra_process_ = true;
 }
@@ -218,23 +219,29 @@ SubscriptionBase::can_loan_messages() const
   return rcl_subscription_can_loan_messages(subscription_handle_.get());
 }
 
-rclcpp::Waitable::SharedPtr
-SubscriptionBase::get_intra_process_waitable() const
+std::vector<rclcpp::Waitable::SharedPtr>
+SubscriptionBase::get_intra_process_waitables() const
 {
   // If not using intra process, shortcut to nullptr.
   if (!use_intra_process_) {
-    return nullptr;
+    return std::vector<rclcpp::Waitable::SharedPtr>();
   }
   // Get the intra process manager.
   auto ipm = weak_ipm_.lock();
   if (!ipm) {
     throw std::runtime_error(
-            "SubscriptionBase::get_intra_process_waitable() called "
+            "SubscriptionBase::get_intra_process_waitables() called "
             "after destruction of intra process manager");
   }
 
-  // Use the id to retrieve the subscription intra-process from the intra-process manager.
-  return ipm->get_subscription_intra_process(intra_process_subscription_id_);
+  std::vector<rclcpp::Waitable::SharedPtr> waitables(intra_process_subscription_ids_.size());
+
+  for (auto i = 0u; i < intra_process_subscription_ids_.size(); ++i) {
+    // Use the id to retrieve the subscription intra-process from the intra-process manager.
+    waitables[i] = ipm->get_subscription_intra_process(intra_process_subscription_ids_[i]);
+  }
+
+  return waitables;
 }
 
 void
@@ -274,8 +281,10 @@ SubscriptionBase::exchange_in_use_by_wait_set_state(
   if (this == pointer_to_subscription_part) {
     return subscription_in_use_by_wait_set_.exchange(in_use_state);
   }
-  if (get_intra_process_waitable().get() == pointer_to_subscription_part) {
-    return intra_process_subscription_waitable_in_use_by_wait_set_.exchange(in_use_state);
+  for (auto & waitable : get_intra_process_waitables()) {
+    if (waitable.get() == pointer_to_subscription_part) {
+      return intra_process_subscription_waitable_in_use_by_wait_set_.exchange(in_use_state);
+    }
   }
   for (const auto & qos_event : event_handlers_) {
     if (qos_event.get() == pointer_to_subscription_part) {
diff --git a/rclcpp/test/test_intra_process_communication.cpp b/rclcpp/test/test_intra_process_communication.cpp
new file mode 100644
index 0000000000..9a40be728d
--- /dev/null
+++ b/rclcpp/test/test_intra_process_communication.cpp
@@ -0,0 +1,367 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <test_msgs/message_fixtures.hpp>
+
+#include <iostream>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "rclcpp/serialized_message.hpp"
+
+int32_t & get_test_allocation_counter()
+{
+  static int32_t counter = 0;
+  return counter;
+}
+
+void * custom_allocate(size_t size, void * state)
+{
+  static auto m_allocator = rcutils_get_default_allocator();
+
+  ++get_test_allocation_counter();
+  auto r = m_allocator.allocate(size, state);
+  return r;
+}
+
+void * custom_zero_allocate(size_t number_of_elements, size_t size_of_element, void * state)
+{
+  static auto m_allocator = rcutils_get_default_allocator();
+
+  ++get_test_allocation_counter();
+  auto r = m_allocator.zero_allocate(number_of_elements, size_of_element, state);
+  return r;
+}
+
+void * custom_reallocate(void * pointer, size_t size, void * state)
+{
+  static auto m_allocator = rcutils_get_default_allocator();
+
+  if (pointer == nullptr) {
+    ++get_test_allocation_counter();
+  }
+
+  auto r = m_allocator.reallocate(pointer, size, state);
+  return r;
+}
+
+void custom_deallocate(void * pointer, void * state)
+{
+  static auto m_allocator = rcutils_get_default_allocator();
+
+  --get_test_allocation_counter();
+  m_allocator.deallocate(pointer, state);
+}
+
+rcl_serialized_message_t make_serialized_string_msg(
+  const std::shared_ptr<test_msgs::msg::Strings> & stringMsg)
+{
+  auto m_allocator = rcutils_get_default_allocator();
+
+  // add custom (de)allocator to count the references to the object
+  m_allocator.allocate = &custom_allocate;
+  m_allocator.deallocate = &custom_deallocate;
+  m_allocator.reallocate = &custom_reallocate;
+  m_allocator.zero_allocate = &custom_zero_allocate;
+
+  rcl_serialized_message_t msg = rmw_get_zero_initialized_serialized_message();
+  auto ret = rmw_serialized_message_init(&msg, 0, &m_allocator);
+  if (ret != RCL_RET_OK) {
+    rclcpp::exceptions::throw_from_rcl_error(ret);
+  }
+
+  static auto type =
+    rosidl_typesupport_cpp::get_message_type_support_handle
+    <test_msgs::msg::Strings>();
+  auto error = rmw_serialize(stringMsg.get(), type, &msg);
+  if (error != RMW_RET_OK) {
+    RCUTILS_LOG_ERROR_NAMED(
+      "test_intra_process_communication",
+      "Something went wrong preparing the serialized message");
+  }
+
+  return msg;
+}
+
+/**
+ * Parameterized test.
+ * The first param are the NodeOptions used to create the nodes.
+ * The second param are the expected intraprocess count results.
+ */
+struct TestParameters
+{
+  rclcpp::NodeOptions node_options[2];
+  uint64_t intraprocess_count_results[2];
+  size_t runs;
+  std::string description;
+};
+
+std::ostream & operator<<(std::ostream & out, const TestParameters & params)
+{
+  out << params.description;
+  return out;
+}
+
+class TestPublisherSubscriptionSerialized : public ::testing::TestWithParam<TestParameters>
+{
+public:
+  static void SetUpTestCase()
+  {
+    if (!rclcpp::ok()) {
+      rclcpp::init(0, nullptr);
+    }
+  }
+
+protected:
+  static std::chrono::milliseconds offset;
+};
+
+std::chrono::milliseconds TestPublisherSubscriptionSerialized::offset = std::chrono::milliseconds(
+  250);
+std::array<uint32_t, 2> counts;
+
+void OnMessageSerialized(const std::shared_ptr<const rcl_serialized_message_t> msg)
+{
+  EXPECT_NE(msg->buffer, nullptr);
+  EXPECT_GT(msg->buffer_capacity, 0u);
+
+  ++counts[0];
+}
+
+void OnMessageConst(std::shared_ptr<const test_msgs::msg::Strings> msg)
+{
+  EXPECT_EQ(msg->string_value.back(), '9');
+
+  ++counts[1];
+}
+
+void OnMessageUniquePtr(std::unique_ptr<test_msgs::msg::Strings> msg)
+{
+  EXPECT_EQ(msg->string_value.back(), '9');
+
+  ++counts[1];
+}
+
+void OnMessage(std::shared_ptr<test_msgs::msg::Strings> msg)
+{
+  EXPECT_EQ(msg->string_value.back(), '9');
+
+  ++counts[1];
+}
+
+TEST_P(TestPublisherSubscriptionSerialized, publish_serialized)
+{
+  get_test_allocation_counter() = 0;
+
+  TestParameters parameters = GetParam();
+  {
+    rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>(
+      "my_node",
+      "/ns",
+      parameters.node_options[0]);
+    auto publisher = node->create_publisher<test_msgs::msg::Strings>("/topic", 10);
+
+    auto sub_shared = node->create_subscription<test_msgs::msg::Strings>(
+      "/topic", 10,
+      &OnMessage);
+    auto sub_unique = node->create_subscription<test_msgs::msg::Strings>(
+      "/topic", 10,
+      &OnMessageUniquePtr);
+    auto sub_const_shared = node->create_subscription<test_msgs::msg::Strings>(
+      "/topic", 10,
+      &OnMessageConst);
+    auto sub_serialized = node->create_subscription<test_msgs::msg::Strings>(
+      "/topic", 10,
+      &OnMessageSerialized);
+
+    rclcpp::sleep_for(offset);
+
+    counts.fill(0);
+    auto stringMsg = get_messages_strings()[3];
+
+    for (size_t i = 0; i < parameters.runs; i++) {
+      auto msg0 = make_serialized_string_msg(stringMsg);
+
+      std::unique_ptr<test_msgs::msg::Strings> stringMsgU(
+        new test_msgs::msg::Strings(
+          *stringMsg));
+
+      publisher->publish(std::make_unique<rcl_serialized_message_t>(msg0));
+      publisher->publish(*stringMsg);
+      publisher->publish(std::move(stringMsgU));
+    }
+    for (uint32_t i = 0; i < 3; ++i) {
+      rclcpp::spin_some(node);
+      rclcpp::sleep_for(offset);
+    }
+
+    rclcpp::spin_some(node);
+  }
+
+  if (parameters.runs == 1) {
+    EXPECT_EQ(counts[0], 3u);
+    EXPECT_EQ(counts[1], 9u);
+  }
+
+  EXPECT_EQ(get_test_allocation_counter(), 0);
+}
+
+TEST_P(TestPublisherSubscriptionSerialized, publish_serialized_generic)
+{
+  get_test_allocation_counter() = 0;
+
+  TestParameters parameters = GetParam();
+  {
+    rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>(
+      "my_node",
+      "/ns",
+      parameters.node_options[0]);
+    auto publisher = rclcpp::create_generic_publisher<rcl_serialized_message_t>(
+      node,
+      "/topic",
+      *rosidl_typesupport_cpp::get_message_type_support_handle<test_msgs::msg::Strings>(),
+      rclcpp::QoS(10));
+
+    auto sub_gen_serialized = rclcpp::create_generic_subscription<rcl_serialized_message_t>(
+      node,
+      "/topic",
+      *rosidl_typesupport_cpp::get_message_type_support_handle<test_msgs::msg::Strings>(),
+      rclcpp::QoS(10),
+      &OnMessageSerialized);
+
+    auto sub_shared = node->create_subscription<test_msgs::msg::Strings>(
+      "/topic", 10,
+      &OnMessage);
+    auto sub_unique = node->create_subscription<test_msgs::msg::Strings>(
+      "/topic", 10,
+      &OnMessageUniquePtr);
+    auto sub_const_shared = node->create_subscription<test_msgs::msg::Strings>(
+      "/topic", 10,
+      &OnMessageConst);
+    auto sub_serialized = node->create_subscription<test_msgs::msg::Strings>(
+      "/topic", 10,
+      &OnMessageSerialized);
+
+    rclcpp::sleep_for(offset);
+
+    counts.fill(0);
+    auto stringMsg = get_messages_strings()[3];
+
+    for (size_t i = 0; i < parameters.runs; i++) {
+      auto msg0 = make_serialized_string_msg(stringMsg);
+
+      publisher->publish(std::make_unique<rcl_serialized_message_t>(msg0));
+    }
+    rclcpp::spin_some(node);
+    rclcpp::sleep_for(offset);
+
+    rclcpp::spin_some(node);
+  }
+
+  if (parameters.runs == 1) {
+    EXPECT_EQ(counts[0], 2u);
+    EXPECT_EQ(counts[1], 3u);
+  }
+
+  EXPECT_EQ(get_test_allocation_counter(), 0);
+}
+
+auto get_new_context()
+{
+  auto context = rclcpp::Context::make_shared();
+  context->init(0, nullptr);
+  return context;
+}
+
+std::vector<TestParameters> parameters = {
+  /*
+     Testing publisher subscription count api and internal process subscription count.
+     Two subscriptions in the same topic, both using intraprocess comm.
+   */
+  {
+    {
+      rclcpp::NodeOptions().use_intra_process_comms(true),
+      rclcpp::NodeOptions().use_intra_process_comms(true)
+    },
+    {1u, 2u},
+    1,
+    "two_subscriptions_intraprocess_comm"
+  },
+  /*
+     Testing publisher subscription count api and internal process subscription count.
+     Two subscriptions, one using intra-process comm and the other not using it.
+   */
+  {
+    {
+      rclcpp::NodeOptions().use_intra_process_comms(true),
+      rclcpp::NodeOptions().use_intra_process_comms(false)
+    },
+    {1u, 1u},
+    1,
+    "two_subscriptions_one_intraprocess_one_not"
+  },
+  /*
+     Testing publisher subscription count api and internal process subscription count.
+     Two contexts, both using intra-process.
+   */
+  {
+    {
+      rclcpp::NodeOptions().use_intra_process_comms(true),
+      rclcpp::NodeOptions().context(get_new_context()).use_intra_process_comms(true)
+    },
+    {1u, 1u},
+    1,
+    "two_subscriptions_in_two_contexts_with_intraprocess_comm"
+  },
+  /*
+     Testing publisher subscription count api and internal process subscription count.
+     Two contexts, both of them not using intra-process comm.
+   */
+  {
+    {
+      rclcpp::NodeOptions().use_intra_process_comms(false),
+      rclcpp::NodeOptions().context(get_new_context()).use_intra_process_comms(false)
+    },
+    {0u, 0u},
+    1,
+    "two_subscriptions_in_two_contexts_without_intraprocess_comm"
+  }
+};
+
+std::vector<TestParameters> setRuns(const std::vector<TestParameters> & in, const size_t runs)
+{
+  std::vector<TestParameters> out = in;
+  for (auto & p : out) {
+    p.runs = runs;
+  }
+  return out;
+}
+
+INSTANTIATE_TEST_CASE_P(
+  TestWithDifferentNodeOptions, TestPublisherSubscriptionSerialized,
+  ::testing::ValuesIn(parameters),
+  ::testing::PrintToStringParamName());
+
+INSTANTIATE_TEST_CASE_P(
+  TestWithDifferentNodeOptions1000Runs, TestPublisherSubscriptionSerialized,
+  ::testing::ValuesIn(setRuns(parameters, 1000)),
+  ::testing::PrintToStringParamName());
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
index 2f94dc78c0..68bf091596 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
@@ -68,6 +68,18 @@ class LifecyclePublisher : public LifecyclePublisherInterface,
   {
   }
 
+  LifecyclePublisher(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic,
+    const rclcpp::QoS & qos,
+    const rclcpp::PublisherOptionsWithAllocator<Alloc> & options,
+    const rosidl_message_type_support_t & type_support)
+  : rclcpp::Publisher<MessageT, Alloc>(node_base, topic, qos, options, type_support),
+    enabled_(false),
+    logger_(rclcpp::get_logger("LifecyclePublisher"))
+  {
+  }
+
   ~LifecyclePublisher() {}
 
   /// LifecyclePublisher publish function
@@ -110,6 +122,30 @@ class LifecyclePublisher : public LifecyclePublisherInterface,
     rclcpp::Publisher<MessageT, Alloc>::publish(msg);
   }
 
+  /// Publish a serialized message. Non specialized version to prevent compiling errors.
+  template<typename TDeleter, typename T>
+  void publish(std::unique_ptr<T, TDeleter> serialized_msg)
+  {
+    (void)serialized_msg;
+    throw std::runtime_error(
+            "publishing unique_ptr with custom deleter only supported for serialized messages");
+  }
+
+  /// Publish a serialized message.
+  template<typename TDeleter>
+  void publish(std::unique_ptr<rcl_serialized_message_t, TDeleter> serialized_msg)
+  {
+    if (!enabled_) {
+      RCLCPP_WARN(
+        logger_,
+        "Trying to publish message on the topic '%s', but the publisher is not activated",
+        this->get_topic_name());
+
+      return;
+    }
+    this->do_serialized_publish(*serialized_msg);
+  }
+
   virtual void
   on_activate()
   {