using asio in a ros2 package

edit

I am looking for a sanity check on this idea from more experienced developers.

ros2 is installed on an Nnvidia TX1 using a docker container of the ros galactic release. The container runs a c++ ros2 package with the asio library working as a socket server, listening on port 9090 for example.

Messages come in on port 9090 from the web browser of an Android device; or any web browser really. Messages sent to 9090 from the browser are in JSON format and contain linear and angular velocity. The code bound to the socket then creates a Twist message with these values and publishes them on cmd_vel.

There is also a micro-ros agent running on the TX1 that forwards the cmd_vel to a micro-ros instance running on an ESP32 board that is connected to the motor driver.

I am basically trying to create a simple remote control interface from the android phone without having to bother with ros2-java or building an Android app.

I already turned the TX1 WiFi interface into an access point and connected to it from the phone.