can't use the precompiled libraries with teensy 4.1

Start with the teensy_with_arduino tutorial and the micro-ros_publisher.ino example, then inspect micro_ros_arduino.h and the precompiled library selected for Teensy 4.1. Compare that setup with the linker output and determine what prevents the referenced symbols from being linked. Done means the example compiles and uploads to a Teensy 4.1 without the undefined-reference errors.

Issue template

• Hardware and Software description: Ubuntu 20.04
  Ros2 Foxy (and on another setup with Humble as well)
  `rduino IDE 1.8.15
  Teensyduino 1.54

• Installation type: after installing Arduino IDE, and Teensyduino, I downloaded the teensy rules, and I patched the Platform.txt and edited those two lines as instructed:
  version=1.8.15
ARDUINO_PATH=[~/Downloads/arduino-1.8.15]

Steps to reproduce the issue

I was following the instructions in this link:
https://micro.ros.org/docs/tutorials/core/teensy_with_arduino/
but with one difference, Teensy 4.1 insead of Teensy 3.2

Expected behavior

code uploaded to teensy

Actual behavior

I receive the following error while compiling the code:

WARNING: library micro_ros_arduino claims to run on stm32, OpenCR, Teensyduino, samd, sam, mbed, esp32, mbed_portenta architecture(s) and may be incompatible with your current board which runs on avr architecture(s). Library micro_ros_arduino has been declared precompiled: Using precompiled library in /home/ali/Arduino/libraries/micro_ros_arduino/src/imxrt1062/fpv5-d16-hard The platform does not support 'compiler.libraries.ldflags' for precompiled libraries. /home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_172864/sketch/micro-ros_publisher.ino.cpp.o: in function timer_callback(rcl_timer_s*, long long)': /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:36: undefined reference to rcl_publish'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_172864/sketch/micro-ros_publisher.ino.cpp.o: in function setup': /home/ali/Arduino/libraries/micro_ros_arduino/src/micro_ros_arduino.h:33: undefined reference to rmw_uros_set_custom_transport'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_172864/sketch/micro-ros_publisher.ino.cpp.o: in function setup': /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:49: undefined reference to rcutils_get_default_allocator'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:52: undefined reference to rclc_support_init' /home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:55: undefined reference to rclc_node_init_default'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:58: undefined reference to rosidl_typesupport_c__get_message_type_support_handle__std_msgs__msg__Int32' /home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:58: undefined reference to rclc_publisher_init_default'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:66: undefined reference to rclc_timer_init_default' /home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:73: undefined reference to rclc_executor_init'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:74: undefined reference to rclc_executor_add_timer' /home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_172864/sketch/micro-ros_publisher.ino.cpp.o: in function loop':
/home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:81: undefined reference to rclc_executor_spin_some' collect2: error: ld returned 1 exit status Error compiling for board Teensy 4.1.

sorry that the code looks like this, but it has a lot of apostrophes.

Additional information

my main goal is as follows:
The teensy reads several sensors and send the data to a Jetson orin that will publich them to ros2.
if there's a way to send the info as serial and create a node that will read it and then publish to ros2, or to publish ros2 directly from the teensy, please advise me on how to solve this.