The package [rosidl_generator_dds_idl](
https://github.com/ros2/rosidl_dds/tree/master/rosidl_generator_dds_idl) already generates `.idl` files from `.msg` files which is being used for `rmw_connext_cpp` and `rmw_fastrtps_cpp`.
But `rmw_fastrtps_cpp` is different since it uses introspection rather than generated code specific to each message so for FastRTPS you don't have to generate `.idl` files.
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