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My back end services are in Nodejs and I am planning to use wso2 identity server for authorization. For that , I have to hit OAuth2 based url's[authorize,token] from my node back-end. I have tried some nodejs oauth2 server implementation.But is it the same for WSO2 Identity server? How can i connect from my NodeJS back end services to WSO2 identity server for authorization? which will be the end points should I use?

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All the OAuth2 Endpoints In WSO2 Identity Server are exposed as REST endpoints complying to the OAuth2 Specification. Therefore you wouldn't have any problem using a standard OAuth2 client in nodejs to fulfill your requirements.

These are the endpoints you need to be concerned about if you want to use OAuth2,

Authorization Endpoint URL: https://localhost:9443/oauth2/authorize

Token Endpoint URL: https://localhost:9443/oauth2/token
Token Revocation Endpoint URL: https://localhost:9443/oauth2/revoke
Token introspection Endpoint URL: https://localhost:9443/oauth2/introspect

[Change the hostname and port suitably.]