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For ROS2 I would recommend https://github.com/RobotWebTools/rclnodejs For ROS1 melodic.. Maybe a ros-webbridge? It delivers data as JSON. But you need to handle packaging your JSON ans writing / reading them back to a websocket interface by yourself http://wiki.ros.org/rosbridge_suite

Also please add information about what real time means to you.. (10ms, 100ms, 1second...)

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