ros2 idl .msg dds cross-talk

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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:

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