Interacting w/ MicroDDS agent without ROS

[jmltt]

I need to access data from PX4 that is only published via UORB and can use mavlink for 99% of my other needs. If possible I'm trying to avoid having to install and learn how to use ROS just to subscribe to a single topic.

Are there any examples of how to interact with the microdds-agent? I'd like to essentially build a really simple DDS client app that just subscribes to a data stream exposed by the microdds-agent and republishes it over the MPA.

I found the eprosima documentation to be more confusing than anything, so any implementation in code that I can look at would be super helpful. If nobody has done this I get it, it probably makes more sense in most cases to just use ROS and abstract away dealing with the middleware. Still though, if someone can point me to where ROS handles dealing with the middleware that would help too.

Thanks!