Incompatialbe ROS and DDS idl file

asked 2020-11-19 20:04:38 -0600

vincewu gravatar image

Hi All,

I have a requirement for establishing the communication between ROS2 node and DDS application. The ROS2 what I use is Foxy, and the DDS what I use is Cyclone.

For ROS2 node, the developer only need to define .msg file and the corresponding .idl file and source (.cpp, .hpp) will be generated automatically. For DDS application, the developer define .idl file and the corresponding source (.c, .h) will be generated automatically.

The problem what I met is that I can't directly use the .idl file generated by ROS2 for DDS application. It will have some errors like type incompatible when compiling DDS application by using the .idl file generated by ROS2.

Are there any methods or tools I can use to transfer the ROS2 .id file to DDS compatible .idl file? Or are there any other recommended way to establish the communication between ROS2 node and DDS application?

Thanks!

Best regards, Vince

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