ros2 rti dds cross communications example?
Does anyone know of an example of an RTI connext DDS node reading/writing with a ROS2 node? I have been using RTI connext for the last few years and am jumping back into ROS, via ROS2. However, i am at a loss as to how to take my IDLs and turn them into a .msg.
For example: what would this look like as a .msg? depth.idl and fluidpressure.idl
depth.idl:
include "fluid pressure.idl"
module robot
{
const octet WATER_TYPE_SALT = 1;
struct depth
{
sensor::msg::dds::fluidpressure pressure;
string id; //@key
float depth;
};
};
fluidpressure.idl:
module sensor
{
module msg
{
module dds
{
struct fluidpressure
{
double fluid_pressure;
double variance;
};
};
};
};
Is it as simple as saying:
depth.msg:
const byte WATER_TYPE_SALT = 1
sensor/msg/dds/fluidpressure pressure
float32 depth
and fluidpressure.idl:
double32 fluid_pressure
double32 variance
?
Thanks
Jim