How can I read ROS2 topics directly from a separate Epromisa DDS program?
I'm trying to read a ROS2 topic from another DDS-based program. I have a ROS2 publisher node sending data to a topic. I want to read from that topic in the non-ROS DDS program.
I've already generated the appropriate matching IDL files. But I'm having trouble getting them to run at the same time.
From what I understand I need to launch ROS2 with the FastDDS server explicitly. I tried to do this by using the discovery config file found in the ePromisa docs.
However, I get an error...
ROS2: RROR] [1625247859.663887254] [rcl]: Failed to fini publisher for node: 1 terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' what(): failed to initialize rcl node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/node.c:428
Does anyone have any thoughts or know where to find a definitive guide to reading ROS2 topics from DDS?
Did you ever find a solution to this issue? Did you run into the topic data mismatching (not being the same as the ros topic).