ros2_websocket__helloworld.yaml

systems:
  ros2: { type: ros2 }
  websocket: { type: websocket_server, security: none, port: 80, types-from: ros2 }

routes:
  websocket_to_ros2: { from: websocket, to: ros2 }
  ros2_to_websocket: { from: ros2, to: websocket }

topics:
  hello_websocket: { type: "std_msgs/String", route: ros2_to_websocket }
  hello_ros2: { type: "std_msgs/String", route: websocket_to_ros2 }