There is a way to do this, but only a code example:
https://github.com/ros2/demos/tree/master/demo_nodes_cpp_native
Obviously, this isn't portable because you're accessing Fast-RTPS or Connext (or whatever one you're using) specific interfaces and therefore your program will now only work with that vendor. So for that reason we discourage you from doing it unless absolutely necessary.
@dirk-thomas might have more information for you as he did this originally, but I didn't see a tutorial on the wiki or anything.
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