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How to make a queue available for 3rd party systems to consume

I need to create a message queue in Magento and expose it to the 3rd-party system. As I understand, it is required to create communication.xml, queue_publisher.xml, and queue_topology.xml files – so that I’ll be able to publish there.

But how I can expose this queue to the external application to consume messages? This 3rd-party application should be able to consume it via HTTP somehow.