# Communication between ROS2 and RTI Connext DDS Simulink model through DDS

According to the DDS protocol, if two domain participants belonging to the same domain and having the same topic name, topic type and compatible qos settings should communicate with each other.

I am trying to communicate with a ROS2 node (publisher) and a RTI_CONNEXT DDS based Simulink model (subscriber).

I have the following questions :

If i publish a message of type geometry_msg/Twist twist, then what should be the type mentioned in the subscriber because geometry_msg/Twist twist would not be recognised as it is only limited to the ROS world (my assumption). If this is not the case, then can I use some header files to include these message definitions ?

In Simulink, I can define the IDL through buses and IDL are in the form of structures, if I define any other message types other than the standard primitive message types, it gives me an error.

Any help would be appreciated.

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