diff --git a/plugins/nao6-ros2.json b/plugins/nao6-ros2.json
index a58b5cb..deb29a3 100755
--- a/plugins/nao6-ros2.json
+++ b/plugins/nao6-ros2.json
@@ -311,6 +311,23 @@
             }
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/cmd_vel",
+        "messageType": "geometry_msgs/msg/Twist",
+        "messageTemplate": {
+          "linear": {
+            "x": "{{speed}}",
+            "y": 0,
+            "z": 0
+          },
+          "angular": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          }
+        }
       }
     },
     {
@@ -361,6 +378,23 @@
             }
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/cmd_vel",
+        "messageType": "geometry_msgs/msg/Twist",
+        "messageTemplate": {
+          "linear": {
+            "x": "-{{speed}}",
+            "y": 0,
+            "z": 0
+          },
+          "angular": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          }
+        }
       }
     },
     {
@@ -411,6 +445,23 @@
             }
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/cmd_vel",
+        "messageType": "geometry_msgs/msg/Twist",
+        "messageTemplate": {
+          "linear": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          },
+          "angular": {
+            "x": 0,
+            "y": 0,
+            "z": "{{speed}}"
+          }
+        }
       }
     },
     {
@@ -461,6 +512,23 @@
             }
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/cmd_vel",
+        "messageType": "geometry_msgs/msg/Twist",
+        "messageTemplate": {
+          "linear": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          },
+          "angular": {
+            "x": 0,
+            "y": 0,
+            "z": "-{{speed}}"
+          }
+        }
       }
     },
     {
@@ -534,6 +602,14 @@
           "reliability": "reliable",
           "durability": "volatile"
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/speech",
+        "messageType": "std_msgs/msg/String",
+        "messageTemplate": {
+          "data": "{{text}}"
+        }
       }
     },
     {
@@ -585,6 +661,14 @@
             "data": "\\rspd={{speed}}\\\\rst={{emotion}}\\{{text}}"
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/speech",
+        "messageType": "std_msgs/msg/String",
+        "messageTemplate": {
+          "data": "{{text}}"
+        }
       }
     },
     {
@@ -719,6 +803,16 @@
             "speed": "{{speed}}"
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/joint_angles",
+        "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
+        "messageTemplate": {
+          "joint_names": ["HeadYaw", "HeadPitch"],
+          "joint_angles": ["{{yaw}}", "{{pitch}}"],
+          "speed": "{{speed}}"
+        }
       }
     },
     {
@@ -923,6 +1017,16 @@
           "type": "transform",
           "transformFn": "transformToHeadMovement"
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/joint_angles",
+        "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
+        "messageTemplate": {
+          "joint_names": ["HeadYaw", "HeadPitch"],
+          "joint_angles": ["{{yaw}}", "{{pitch}}"],
+          "speed": "{{speed}}"
+        }
       }
     },
     {