In these docs there is mention of a ros_to_dds package. I can’t find much else on it, has anything been done on this yet?
No, that’s more of a placeholder, instead it’s like the rmw implementations themselves would provide this interface, see these demos for Fast-RTPS:
Which access underlying rmw implementation specific objects directly. None of
rmw_opensplice_cpp, or the others have interfaces like this yet as far as I know, just because no one has needed them yet.
Excellent thank you very much.