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build.gradle: ```gradle plugins { id 'org.springframework.boot' version '2.7.9' } apply plugin: 'java' apply plugin: 'org.springframework.boot' repositories { mavenCentral() } dependencies { implementation files('libs/rcljava.jar', 'libs/rcljava_common.jar', 'libs/std_msgs_messages.jar', 'libs/diagnostic_msgs_messages.jar') implementation 'org.springframework.boot:spring-boot-starter-web:2.7.9' } bootRun...

Ros2SubscriberApplication (Spring-boot's main): ```java package com.ros2.subscriber; import org.springframework.boot.SpringApplication; import org.springframework.boot.autoconfigure.SpringBootApplication; import org.springframework.context.ConfigurableApplicationContext; import org.springframework.context.annotation.Import; /** * Main class to start application */ @SpringBootApplication @Import({Ros2SubscriberConfiguration.class}) public class Ros2SubscriberApplication { public static...