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Spin waves offer intriguing perspectives for computing and signal processing, because their damping can be lower than the ohmic losses in conventional complementary metal-oxide-semiconductor (CMOS) circuits. Magnetic domain walls show considerable potential as magnonic waveguides for on-chip control of the spatial extent and propagation of spin waves. However, low-loss guidance of spin waves with nanoscale wavelengths and around angled tracks remains to be shown. Here, we demonstrate spin wave control using natural anisotropic features of magnetic order in an interlayer exchange-coupled ferromagnetic bilayer. We employ scanning transmission X-ray microscopy to image the generation of spin waves and their propagation across distances exceeding multiples of the wavelength. Spin waves propagate in extended planar geometries as well as along straight or curved one-dimensional domain walls. We observe wavelengths between 1 mu m and 150 nm, with excitation frequencies ranging from 250 MHz to 3 GHz. Our results show routes towards the practical implementation of magnonic waveguides in the form of domain walls in future spin wave logic and computational circuits.