ROS2 mission push

Hello, I’m developing ROS2 node that writes mission to PX4 stack.
Fortunately, It was successful to communicate with px4 stack via Uorb-RTPS bridge.
(sensor_combined.msg Example)

But, I couldn’t find examples that describes how to push mission item to px4 stack via RTPS.

Is there any examples for this? Or Can you explain me the steps for waypoint transmission?

I’m not planning to use Mavros or ros1-bridge,due to integrity.

Waiting for your experience… Thank you