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The package rosidl_parser has a few test idl files:

The documentation for rosidl_generate_interfaces says IDL files can be passed directly to rosidl_generate_interfaces(). Internally all .action, .msg, and .srv are converted to .idl files before given to the code generators, so for more examples build a message package and look in the build directory for the generated files.

The design page IDL -Interface Definition and Language Mapping documents the subset of OMG IDL 4.2 supported in Dashing.