Dedemac, I am using a midarm, but you can easily do ruler work with a domestic. I did for along time before I got my Tiara.
You just have to be sure to get the right size of rulers for your machine. Any dealer should be able to tell you which size you need. I would suggest the Westalee Starter Kit for a place to start. It has the foot and my favourite ruler in it, which is a straight edge on one side and an arc on the other.
Watson