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To enable the REST API you can use the following starter in your pom.xml: 
<dependency>
  <groupId>org.camunda.bpm.springboot</groupId>
  <artifactId>camunda-bpm-spring-boot-starter-rest</artifactId>
  <version>{project-version}</version>
</dependency>
By default the application path is engine-rest, so without any further configuration you can access the api at http://localhost:8080/engine-rest. Because we use jersey, one can use spring boot’s common application properties. For example, to change the application path, use 
spring.jersey.application-path=myapplicationpath
To modify the configuration or register additional resources, one can provide a bean which extends from org.camunda.bpm.spring.boot.starter.rest.CamundaJerseyResourceConfig: 
@Component
@ApplicationPath("/engine-rest")
public class JerseyConfig extends CamundaJerseyResourceConfig {

  @Override
  protected void registerAdditionalResources() {
    register(...);
  }

}