nodes:
  - id: dora_ros2_bridge
    custom:
      source: python
      python: random_turtle.py
      inputs:
        direction: control/direction
        timer: dora/timer/millis/50
      outputs:
        - turtle_pose

  - id: control
    custom:
      source: python
      args: ./control_node.py
      inputs:
        turtle_pose: dora_ros2_bridge/turtle_pose
      outputs:
        - direction