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I got it working. A hint from eboasson a dev of CycloneDDS got me back on track: Here.

So just like i commented the topic names change like this from ROS2 to Cyclone: "topic" -> "rt/topic". For example if you want to send a String message this is the idl-File you want to use:

module std_msgs { module msg { module dds_ {
    @final struct String_ {
      string data;
    };
    }; }; };

The @appendable tag from neil_rti is not supported by the CycloneDDS Middleware because it doesn't want to run XCDR2-Data-Representation, @final worked for me. So just match the QoS-Settings of the Cyclone-DDS to the ROS2 and you're good to go. I had an example how i did it in the Github issue.