No, not currently. We have talked in the past about supporting an IDL->.msg workflow to support your use case, but because we've not had to do it yet, we haven't implemented it. Also, I always operated under the assumption that extra features like enum and inheritance would not be supported in this workflow. You should also be aware, that our use of topics and partitions within DDS will change soon (proposal has been accepted, we're in the process of implementing it now), see: http://design.ros2.org/articles/topic_and_service_names.html#mapping-of-ros-2-topic-and-service-names-to-dds-concepts And some examples of that: http://design.ros2.org/articles/topic_and_service_names.html#examples-of-ros-names-to-dds-concepts This will likely affect your ability to subscribe to an existing DDS topic from ROS, and perhaps your ability to create a publisher in ROS with the exact characteristics you'd like on the DDS side. We're aware of this use case, however, and have some ideas about how to allow you to publish and subscribe to "native" DDS topics without any of the ROS specific mangling: http://design.ros2.org/articles/topic_and_service_names.html#communicating-with-non-ros-topics --- [Visit Topic](https://discourse.ros.org/t/ros2-and-dds-messaging/1556/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: