diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_goal_lla_msg_received.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_goal_lla_msg_received.py
new file mode 100644
index 00000000000000..bf7623862f6136
--- /dev/null
+++ b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_goal_lla_msg_received.py
@@ -0,0 +1,153 @@
+# Copyright 2023 ArduPilot.org.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+"""
+Bring up ArduPilot SITL and check the Goal GeoPointStamped message is being published.
+
+colcon test --packages-select ardupilot_dds_tests \
+--event-handlers=console_cohesion+ --pytest-args -k test_goal_lla_msg_received
+
+"""
+
+import launch_pytest
+import math
+import pytest
+import rclpy
+import rclpy.node
+from scipy.spatial.transform import Rotation as R
+import threading
+
+from launch import LaunchDescription
+
+from launch_pytest.tools import process as process_tools
+
+from rclpy.qos import QoSProfile
+from rclpy.qos import QoSReliabilityPolicy
+from rclpy.qos import QoSHistoryPolicy
+
+from geographic_msgs.msg import GeoPointStamped
+
+TOPIC = "ap/goal_lla"
+
+
+class GeoPointListener(rclpy.node.Node):
+    """Subscribe to GeoPointStamped messages."""
+
+    def __init__(self):
+        """Initialise the node."""
+        super().__init__("geopoint_listener")
+        self.msg_event_object = threading.Event()
+
+        # Declare and acquire `topic` parameter
+        self.declare_parameter("topic", TOPIC)
+        self.topic = self.get_parameter("topic").get_parameter_value().string_value
+
+    def start_subscriber(self):
+        """Start the subscriber."""
+        qos_profile = QoSProfile(
+            reliability=QoSReliabilityPolicy.BEST_EFFORT,
+            history=QoSHistoryPolicy.KEEP_LAST,
+            depth=1,
+        )
+
+        self.subscription = self.create_subscription(GeoPointStamped, self.topic, self.subscriber_callback, qos_profile)
+
+        # Add a spin thread.
+        self.ros_spin_thread = threading.Thread(target=lambda node: rclpy.spin(node), args=(self,))
+        self.ros_spin_thread.start()
+
+    def subscriber_callback(self, msg):
+        """Process a GeoPointStamped message."""
+        self.msg_event_object.set()
+
+
+@launch_pytest.fixture
+def launch_sitl_copter_dds_serial(sitl_copter_dds_serial):
+    """Fixture to create the launch description."""
+    sitl_ld, sitl_actions = sitl_copter_dds_serial
+
+    ld = LaunchDescription(
+        [
+            sitl_ld,
+            launch_pytest.actions.ReadyToTest(),
+        ]
+    )
+    actions = sitl_actions
+    yield ld, actions
+
+
+@launch_pytest.fixture
+def launch_sitl_copter_dds_udp(sitl_copter_dds_udp):
+    """Fixture to create the launch description."""
+    sitl_ld, sitl_actions = sitl_copter_dds_udp
+
+    ld = LaunchDescription(
+        [
+            sitl_ld,
+            launch_pytest.actions.ReadyToTest(),
+        ]
+    )
+    actions = sitl_actions
+    yield ld, actions
+
+
+@pytest.mark.launch(fixture=launch_sitl_copter_dds_serial)
+def test_dds_serial_geopose_msg_recv(launch_context, launch_sitl_copter_dds_serial):
+    """Test position messages are published by AP_DDS."""
+    _, actions = launch_sitl_copter_dds_serial
+    virtual_ports = actions["virtual_ports"].action
+    micro_ros_agent = actions["micro_ros_agent"].action
+    mavproxy = actions["mavproxy"].action
+    sitl = actions["sitl"].action
+
+    # Wait for process to start.
+    process_tools.wait_for_start_sync(launch_context, virtual_ports, timeout=2)
+    process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2)
+    process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2)
+    process_tools.wait_for_start_sync(launch_context, sitl, timeout=2)
+
+    rclpy.init()
+    try:
+        node = GeoPointListener()
+        node.start_subscriber()
+        msgs_received_flag = node.msg_event_object.wait(timeout=10.0)
+        assert msgs_received_flag, f"Did not receive '{TOPIC}' msgs."
+    finally:
+        rclpy.shutdown()
+    yield
+
+
+@pytest.mark.launch(fixture=launch_sitl_copter_dds_udp)
+def test_dds_udp_geopose_msg_recv(launch_context, launch_sitl_copter_dds_udp):
+    """Test position messages are published by AP_DDS."""
+    _, actions = launch_sitl_copter_dds_udp
+    micro_ros_agent = actions["micro_ros_agent"].action
+    mavproxy = actions["mavproxy"].action
+    sitl = actions["sitl"].action
+
+    # Wait for process to start.
+    process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2)
+    process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2)
+    process_tools.wait_for_start_sync(launch_context, sitl, timeout=2)
+
+    rclpy.init()
+    try:
+        node = GeoPointListener()
+        node.start_subscriber()
+        msgs_received_flag = node.msg_event_object.wait(timeout=10.0)
+        assert msgs_received_flag, f"Did not receive '{TOPIC}' msgs."
+    finally:
+        rclpy.shutdown()
+    yield
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index 5ef37ca24895b8..db5d6ebdfe8950 100644
--- a/libraries/AP_DDS/AP_DDS_Client.cpp
+++ b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -29,6 +29,9 @@
 #include "AP_DDS_Service_Table.h"
 #include "AP_DDS_External_Odom.h"
 
+static constexpr double lat_lon_scale_factor = 1e-7;
+static constexpr double alt_scale_factor = 0.01;
+
 // Enable DDS at runtime by default
 static constexpr uint8_t ENABLED_BY_DEFAULT = 1;
 #if AP_DDS_TIME_PUB_ENABLED
@@ -52,6 +55,9 @@ static constexpr uint16_t DELAY_AIRSPEED_TOPIC_MS = 33;
 #if AP_DDS_GEOPOSE_PUB_ENABLED
 static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33;
 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
+#if AP_DDS_GOAL_PUB_ENABLED
+static constexpr uint16_t DELAY_GOAL_TOPIC_MS = 200;
+#endif // AP_DDS_GOAL_PUB_ENABLED
 #if AP_DDS_CLOCK_PUB_ENABLED
 static constexpr uint16_t DELAY_CLOCK_TOPIC_MS = 10;
 #endif // AP_DDS_CLOCK_PUB_ENABLED
@@ -526,6 +532,19 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
 }
 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
 
+#if AP_DDS_GOAL_PUB_ENABLED
+void AP_DDS_Client::update_topic_goal(geographic_msgs_msg_GeoPointStamped& msg)
+{
+    const auto &vehicle = AP::vehicle();
+    update_topic(msg.header.stamp);
+    Location target_loc;
+    vehicle->get_target_location(target_loc);
+    msg.position.latitude = target_loc.lat * lat_lon_scale_factor;
+    msg.position.longitude = target_loc.lng * lat_lon_scale_factor;
+    msg.position.altitude = target_loc.alt * alt_scale_factor;
+}
+#endif // AP_DDS_GOAL_PUB_ENABLED
+
 #if AP_DDS_IMU_PUB_ENABLED
 void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg)
 {
@@ -1242,6 +1261,22 @@ void AP_DDS_Client::write_gps_global_origin_topic()
 }
 #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
 
+#if AP_DDS_GOAL_PUB_ENABLED
+void AP_DDS_Client::write_goal_topic()
+{
+    WITH_SEMAPHORE(csem);
+    if (connected) {
+        ucdrBuffer ub {};
+        const uint32_t topic_size = geographic_msgs_msg_GeoPointStamped_size_of_topic(&goal_topic, 0);
+        uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::GOAL_PUB)].dw_id, &ub, topic_size);
+        const bool success = geographic_msgs_msg_GeoPointStamped_serialize_topic(&ub, &goal_topic);
+        if (!success) {
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+        }
+    }
+}
+#endif // AP_DDS_GOAL_PUB_ENABLED
+
 void AP_DDS_Client::update()
 {
     WITH_SEMAPHORE(csem);
@@ -1318,6 +1353,13 @@ void AP_DDS_Client::update()
         write_gps_global_origin_topic();
     }
 #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
+#if AP_DDS_GOAL_PUB_ENABLED
+    if (cur_time_ms - last_goal_time_ms > DELAY_GOAL_TOPIC_MS) {
+        update_topic_goal(goal_topic);
+        last_goal_time_ms = cur_time_ms;
+        write_goal_topic();
+    }
+#endif // AP_DDS_GOAL_PUB_ENABLED
 
     status_ok = uxr_run_session_time(&session, 1);
 }
diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h
index 005b87f30aa213..31c45c2faad7be 100644
--- a/libraries/AP_DDS/AP_DDS_Client.h
+++ b/libraries/AP_DDS/AP_DDS_Client.h
@@ -103,6 +103,15 @@ class AP_DDS_Client
     static void update_topic(geographic_msgs_msg_GeoPointStamped& msg);
 # endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
 
+#if AP_DDS_GOAL_PUB_ENABLED
+    geographic_msgs_msg_GeoPointStamped goal_topic;
+    // The last ms timestamp AP_DDS wrote a gps global origin message
+    uint64_t last_goal_time_ms;
+    //! @brief Serialize the current gps global origin and publish to the IO stream(s)
+    void write_goal_topic();
+    static void update_topic_goal(geographic_msgs_msg_GeoPointStamped& msg);
+# endif // AP_DDS_GOAL_PUB_ENABLED
+
 #if AP_DDS_GEOPOSE_PUB_ENABLED
     geographic_msgs_msg_GeoPoseStamped geo_pose_topic;
     // The last ms timestamp AP_DDS wrote a GeoPose message
diff --git a/libraries/AP_DDS/AP_DDS_Topic_Table.h b/libraries/AP_DDS/AP_DDS_Topic_Table.h
index 05d68e0c78e3ff..6b8d059c54c7b9 100644
--- a/libraries/AP_DDS/AP_DDS_Topic_Table.h
+++ b/libraries/AP_DDS/AP_DDS_Topic_Table.h
@@ -42,6 +42,9 @@ enum class TopicIndex: uint8_t {
 #if AP_DDS_GEOPOSE_PUB_ENABLED
     GEOPOSE_PUB,
 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
+#ifdef AP_DDS_GOAL_PUB_ENABLED
+    GOAL_PUB,
+#endif // AP_DDS_GOAL_PUB_ENABLED
 #if AP_DDS_CLOCK_PUB_ENABLED
     CLOCK_PUB,
 #endif // AP_DDS_CLOCK_PUB_ENABLED
@@ -232,6 +235,24 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
         },
     },
 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
+#if AP_DDS_GOAL_PUB_ENABLED
+    {
+        .topic_id = to_underlying(TopicIndex::GOAL_PUB),
+        .pub_id = to_underlying(TopicIndex::GOAL_PUB),
+        .sub_id = to_underlying(TopicIndex::GOAL_PUB),
+        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GOAL_PUB), .type=UXR_DATAWRITER_ID},
+        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GOAL_PUB), .type=UXR_DATAREADER_ID},
+        .topic_rw = Topic_rw::DataWriter,
+        .topic_name = "rt/ap/goal_lla",
+        .type_name = "geographic_msgs::msg::dds_::GeoPointStamped_",
+        .qos = {
+            .durability = UXR_DURABILITY_VOLATILE,
+            .reliability = UXR_RELIABILITY_BEST_EFFORT,
+            .history = UXR_HISTORY_KEEP_LAST,
+            .depth = 5,
+        },
+    },
+#endif // AP_DDS_GOAL_PUB_ENABLED
 #if AP_DDS_CLOCK_PUB_ENABLED
     {
         .topic_id = to_underlying(TopicIndex::CLOCK_PUB),
diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h
index 2e0d3d6264f8c5..0fd40c74218f60 100644
--- a/libraries/AP_DDS/AP_DDS_config.h
+++ b/libraries/AP_DDS/AP_DDS_config.h
@@ -66,6 +66,10 @@
 #define AP_DDS_CLOCK_PUB_ENABLED 1
 #endif
 
+#ifndef AP_DDS_GOAL_PUB_ENABLED
+#define AP_DDS_GOAL_PUB_ENABLED 1
+#endif
+
 #ifndef AP_DDS_JOY_SUB_ENABLED
 #define AP_DDS_JOY_SUB_ENABLED 1
 #endif