I tried to connect my SignalK server with HA in the way described in previous post. Two plugins exist in the SignalK app store, that offer an option “run local server”:
signalk-mqtt-home-asisstant and
signalk-mqtt-gw
I have tried both on a RaspberryPi Zero 2W and both throw an error “Failed to start: Expected ‘schema’ to be an object or boolean”. Via Slack I have contacted the author of plugin signalk-mqtt-gw to try to get a fix, but he stated that the plugin uses an own, locally embedded broker, which is a really old one and which should not be used anymore. Therefore the package signalk-mqtt-gw has been deprecated now (and signalk-mqtt-home-asisstant is even older and also not working). The author recommended to use signalk-mqtt-bridge in combination with an own MQTT broker.
Now I have gotten this set-up to work with the help of this post of the author of plugin signalk-mqtt-bridge. Here is the description of the neccessary set-up to connect SignalK with Home Assistant: