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I want to use rosserial for my project but I have ROS2 Humble. Is there a way I could use rosserial.

Officially, the replacement for rosserial is micro-ROS

or

If you want to keep using ROS 1 rosserial without changing your firmware, it would make more sense to run a small ROS 1 master + an instance of ros1_bridge than to integrate message translation into any part of rosserial itself.

https://github.com/ros-drivers/rosserial/issues/589

You also should explore this answer in previous question : #q400845,

I want to use rosserial for my project but I have ROS2 Humble. Is there a way I could use rosserial.

Officially, the replacement for rosserial is micro-ROS

or

If you want to keep using ROS 1 rosserial without changing your firmware, it would make more sense to run a small ROS 1 master + an instance of ros1_bridge than to integrate message translation into any part of rosserial itself.

https://github.com/ros-drivers/rosserial/issues/589

You also should explore this answer in previous question : #q400845, ,

I want to use rosserial for my project but I have ROS2 Humble. Is there a way I could use rosserial.

Officially, the The replacement for rosserial is micro-ROS

or

If you want to keep using ROS 1 rosserial without changing your firmware, it would make more sense to run a small ROS 1 master + an instance of ros1_bridge than to integrate message translation into any part of rosserial itself.

https://github.com/ros-drivers/rosserial/issues/589

Node MCU ESP8266 Support

You also should explore this answer in previous question : #q400845,