ros1_server__addtwoints.yaml

types:
    idls:
        - >
            struct AddTwoInts_Request
            {
                int64 a;
                int64 b;
            };

            struct AddTwoInts_Response
            {
                int64 sum;
            };
systems:
    dds: { type: fastdds }
    ros1: { type: ros1 }
    ros2: { type: ros2 }
    websocket: { type: websocket_server, security: none, port: 80 }

routes:
    ros1_server:
        server: ros1
        clients: [dds, ros2, websocket]

services:
    add_two_ints: {
        request_type: AddTwoInts_Request,
        reply_type: AddTwoInts_Response,
        route: ros1_server,
        remap: {
            dds: {
                topic: AddTwoIntsService,
            },
            ros1: {
                request_type: "example_interfaces/AddTwoInts:request",
                reply_type: "example_interfaces/AddTwoInts:response"
            },
            ros2: {
                request_type: "example_interfaces/AddTwoInts:request",
                reply_type: "example_interfaces/AddTwoInts:response"
            }
        }
    }