IDL to .msg interfacing with ROS2

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IDL to .msg interfacing with ROS2

Greetings,

I am learning ROS2 and have RTI DDS nodes that I would like to communicate with. However, I am unsure of the IDL translation to .msg that ROS uses.

Does anyone know what the .idl translation would look like in a .msg?

Example:

depth.idl:

include "fluid pressure.idl"module robot
{const octet WATER_TYPE_SALT =1;struct depth
    {
        sensor::msg::dds::fluidpressure pressure;string id;//@keyfloat depth;};};

fluidpressure.idl:

module sensor
{module msg
    {module dds
        {struct fluidpressure
            {double fluid_pressure;double variance;};};};};

Is it as simple as saying:

depth.msg:

constbyte WATER_TYPE_SALT =1

sensor/msg/dds/fluidpressure   pressure

float32 depth

and fluidpressure.idl:

double32  fluid_pressure

double32  variance

?

Thanks

Jim

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