diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e4da4a8..f3e896d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2023 ZettaScale Technology
+# Copyright (c) 2022 ZettaScale Technology
 #
 # This program and the accompanying materials are made available under the
 # terms of the Eclipse Public License 2.0 which is available at
@@ -22,77 +22,240 @@ on:
     - cron: "0 6 * * 1-5"
 
 jobs:
-  check:
-    name: Run checks on ${{ matrix.os }}
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-latest]
-
+  checks:
+    name: Code checks
+    runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-
       - name: Install Rust toolchain
         uses: actions-rs/toolchain@v1
         with:
           components: rustfmt, clippy
-
       - name: Code format check
         uses: actions-rs/cargo@v1
         with:
           command: fmt
           args: -- --check
-        env:
-          CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
-
-      - name: Clippy
+      - name: Clippy check
         uses: actions-rs/cargo@v1
         with:
           command: clippy
-          args: --all-targets -- -D warnings
-        env:
-          CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
+          args: -- -D warnings
+      - name: Environment setup
+        id: env
+        shell: bash
+        run: |
+          # log some info
+          gcc --version || true
+          rustup -V
+          rustup toolchain list
+          rustup default
+          cargo -V
+          rustc -V
 
-  test:
-    name: Run tests on ${{ matrix.os }}
-    runs-on: ${{ matrix.os }}
+          echo "GITHUB_REF=${GITHUB_REF}"
+          echo "GITHUB_SHA=${GITHUB_SHA:0:8}"
+          GIT_BRANCH=`[[ $GITHUB_REF =~ ^refs/heads/.* ]] && echo ${GITHUB_REF/refs\/heads\//} || true`
+          echo "GIT_BRANCH=${GIT_BRANCH}" >> $GITHUB_OUTPUT
+          GIT_TAG=`[[ $GITHUB_REF =~ ^refs/tags/.* ]] && echo ${GITHUB_REF/refs\/tags\//} || true`
+          echo "GIT_TAG=${GIT_TAG}" >> $GITHUB_OUTPUT
+
+          sudo apt-get update
+          sudo apt-get install -y jq
+
+          ZENOH_VERSION=$(cargo metadata --no-deps --format-version 1 | jq -r '.packages[] | select(.name == "zenoh-plugin-ros1") | .version')
+          echo "ZENOH_VERSION=${ZENOH_VERSION}" >> $GITHUB_OUTPUT
+          if [ -n "${GIT_TAG}" ]; then
+            IS_RELEASE="true"
+            echo "IS_RELEASE=${IS_RELEASE}" >> $GITHUB_OUTPUT
+            PKG_VERSION=${ZENOH_VERSION}
+          elif [ -n "${GIT_BRANCH}" ]; then
+            PKG_VERSION=${GIT_BRANCH}-${GITHUB_SHA:0:8}
+          else
+            PKG_VERSION=${ZENOH_VERSION}-${GITHUB_SHA:0:8}
+          fi
+          echo "PKG_VERSION=${PKG_VERSION}" >> $GITHUB_OUTPUT
+          cat ${GITHUB_OUTPUT}
+    outputs:
+      GIT_BRANCH: ${{ steps.env.outputs.GIT_BRANCH }}
+      GIT_TAG: ${{ steps.env.outputs.GIT_TAG }}
+      IS_RELEASE: ${{ steps.env.outputs.IS_RELEASE }}
+      ZENOH_VERSION: ${{ steps.env.outputs.ZENOH_VERSION }}
+      PKG_VERSION: ${{ steps.env.outputs.PKG_VERSION }}
+
+  builds:
+    name: Build for ${{ matrix.job.target }} on ${{ matrix.job.os }}
+    needs: checks
+    runs-on: ${{ matrix.job.os }}
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest]
-
+        job:
+          - { target: x86_64-unknown-linux-gnu, arch: amd64, os: ubuntu-20.04 }
+          - { target: x86_64-apple-darwin, arch: darwin, os: macos-latest }
+          - { target: aarch64-apple-darwin, arch: darwin, os: macos-latest }
+          - {
+              target: x86_64-unknown-linux-musl,
+              arch: amd64,
+              os: ubuntu-20.04,
+              use-cross: true,
+            }
+          - {
+              target: arm-unknown-linux-gnueabi,
+              arch: armel,
+              os: ubuntu-20.04,
+              use-cross: true,
+            }
+          - {
+              target: arm-unknown-linux-gnueabihf,
+              arch: armhf,
+              os: ubuntu-20.04,
+              use-cross: true,
+            }
+          - {
+              target: armv7-unknown-linux-gnueabihf,
+              arch: armhf,
+              os: ubuntu-20.04,
+              use-cross: true,
+            }
+          - {
+              target: aarch64-unknown-linux-gnu,
+              arch: arm64,
+              os: ubuntu-20.04,
+              use-cross: true,
+            }
+          - {
+              target: aarch64-unknown-linux-musl,
+              arch: arm64,
+              os: ubuntu-20.04,
+              use-cross: true,
+            }
+          # win is possible to build on, but we don't target it for now
+          # - { target: x86_64-pc-windows-msvc, arch: win64, os: windows-2019 }
+          # - { target: x86_64-pc-windows-gnu         , arch: win64 , os: windows-2019                  }
     steps:
-      - uses: actions/checkout@v2
+      - name: Checkout source code
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 500 # NOTE: get long history for git-version crate to correctly compute a version
+      - name: Fetch Git tags # NOTE: workaround for https://github.com/actions/checkout/issues/290
+        shell: bash
+        run: git fetch --tags --force
+      - name: Install prerequisites
+        shell: bash
+        run: |
+          case ${{ matrix.job.target }} in
+            *-linux-gnu*) cargo install cargo-deb;;
+          esac
 
-      - name: Install latest Rust toolchain
+          case ${{ matrix.job.target }} in
+            arm-unknown-linux-gnueabi)
+              sudo apt-get -y update
+              sudo apt-get -y install gcc-arm-linux-gnueabi
+              ;;
+            arm*-unknown-linux-gnueabihf)
+              sudo apt-get -y update
+              sudo apt-get -y install gcc-arm-linux-gnueabihf
+              ;;
+            aarch64-unknown-linux-gnu)
+              sudo apt-get -y update
+              sudo apt-get -y install gcc-aarch64-linux-gnu
+              ;;
+          esac
+
+      - name: Install Rust toolchain
         uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          target: ${{ matrix.job.target }}
+          override: true
+          profile: minimal
 
-      - name: Build
+      - name: zenoh-plugin-ros1 > Build
         uses: actions-rs/cargo@v1
         with:
+          use-cross: ${{ matrix.job.use-cross }}
           command: build
-          args: --verbose --all-targets
-        env:
-          CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
+          args: --release --target=${{ matrix.job.target }} -p zenoh-plugin-ros1
 
-      - name: Install ROS
-        run: sudo apt install -y ros-base
+      - name: zenoh-bridge-ros1 > Build
+        uses: actions-rs/cargo@v1
+        with:
+          use-cross: ${{ matrix.job.use-cross }}
+          command: build
+          args: --release --target=${{ matrix.job.target }} -p zenoh-bridge-ros1
 
-      - name: Run tests
+      - name: zenoh-plugin-ros1 > Debian package
+        if: contains(matrix.job.target, '-linux-gnu')
         uses: actions-rs/cargo@v1
         with:
-          command: test
-          args: --verbose
-        env:
-          CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
-          ASYNC_STD_THREAD_COUNT: 4
+          command: deb
+          args: --no-build --target=${{ matrix.job.target }} -p zenoh-plugin-ros1
 
-      - name: Run doctests
+      - name: zenoh-bridge-ros1 > Debian package
+        if: contains(matrix.job.target, '-linux-gnu')
         uses: actions-rs/cargo@v1
         with:
-          command: test
-          args: --doc
-        env:
-          CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
-          ASYNC_STD_THREAD_COUNT: 4
+          command: deb
+          args: --no-build --target=${{ matrix.job.target }} -p zenoh-bridge-ros1
+
+      - name: Packaging
+        id: package
+        shell: bash
+        run: |
+          TARGET=${{ matrix.job.target }}
+          LIB_PKG_NAME="${GITHUB_WORKSPACE}/zenoh-plugin-ros1-${{ needs.checks.outputs.PKG_VERSION }}-${TARGET}.zip"
+          BIN_PKG_NAME="${GITHUB_WORKSPACE}/zenoh-bridge-ros1-${{ needs.checks.outputs.PKG_VERSION }}-${TARGET}.zip"
+          DEBS_PKG_NAME="${GITHUB_WORKSPACE}/zenoh-plugin-ros1-${{ needs.checks.outputs.PKG_VERSION }}-${TARGET}-deb-pkgs.zip"
+
+          case ${TARGET} in
+            *linux*)
+              cd "target/${TARGET}/release/"
+              echo "Packaging ${LIB_PKG_NAME}:"
+              zip ${LIB_PKG_NAME} libzenoh_plugin*.so
+              echo "Packaging ${BIN_PKG_NAME}:"
+              zip ${BIN_PKG_NAME} zenoh-bridge-ros1
+              cd -
+              echo "LIB_PKG_NAME=${LIB_PKG_NAME}" >> $GITHUB_OUTPUT
+              echo "BIN_PKG_NAME=${BIN_PKG_NAME}" >> $GITHUB_OUTPUT
+
+              # check if debian packages has been created and packages them in a single tgz
+              if [[ -d target/${TARGET}/debian ]]; then
+                cd target/${TARGET}/debian
+                echo "Packaging ${DEBS_PKG_NAME}:"
+                zip ${DEBS_PKG_NAME} *.deb
+                cd -
+                echo "DEBS_PKG_NAME=${DEBS_PKG_NAME}" >> $GITHUB_OUTPUT
+              fi
+              ;;
+            *apple*)
+              cd "target/${TARGET}/release/"
+              echo "Packaging ${LIB_PKG_NAME}:"
+              zip ${LIB_PKG_NAME} libzenoh_plugin*.dylib
+              echo "Packaging ${BIN_PKG_NAME}:"
+              zip ${BIN_PKG_NAME} zenoh-bridge-ros1
+              cd -
+              echo "LIB_PKG_NAME=${LIB_PKG_NAME}" >> $GITHUB_OUTPUT
+              echo "BIN_PKG_NAME=${BIN_PKG_NAME}" >> $GITHUB_OUTPUT
+              ;;
+            *windows*)
+              cd "target/${TARGET}/release/"
+              echo "Packaging ${LIB_PKG_NAME}:"
+              7z -y a "${LIB_PKG_NAME}" zenoh-plugin*.dll
+              echo "Packaging ${BIN_PKG_NAME}:"
+              7z -y a "${BIN_PKG_NAME}" zenoh-bridge-ros1.exe
+              cd -
+              echo "LIB_PKG_NAME=${LIB_PKG_NAME}" >> $GITHUB_OUTPUT
+              echo "BIN_PKG_NAME=${BIN_PKG_NAME}" >> $GITHUB_OUTPUT
+              ;;
+          esac
+
+      - name: "Upload packages"
+        uses: actions/upload-artifact@master
+        with:
+          name: ${{ matrix.job.target }}
+          path: |
+            ${{ steps.package.outputs.LIB_PKG_NAME }}
+            ${{ steps.package.outputs.BIN_PKG_NAME }}
+            ${{ steps.package.outputs.DEBS_PKG_NAME }}
+
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
deleted file mode 100644
index 34d2cc7..0000000
--- a/.github/workflows/release.yml
+++ /dev/null
@@ -1,350 +0,0 @@
-#
-# Copyright (c) 2022 ZettaScale Technology
-#
-# This program and the accompanying materials are made available under the
-# terms of the Eclipse Public License 2.0 which is available at
-# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
-# which is available at https://www.apache.org/licenses/LICENSE-2.0.
-#
-# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
-#
-# Contributors:
-#   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
-#
-name: Release
-
-on:
-  release:
-    types: [published]
-  schedule:
-    - cron: "0 1 * * 1-5"
-  workflow_dispatch:
-
-jobs:
-  checks:
-    name: Code checks
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: Install Rust toolchain
-        uses: actions-rs/toolchain@v1
-        with:
-          components: rustfmt, clippy
-      - name: Code format check
-        uses: actions-rs/cargo@v1
-        with:
-          command: fmt
-          args: -- --check
-      - name: Clippy check
-        uses: actions-rs/cargo@v1
-        with:
-          command: clippy
-          args: -- -D warnings
-      - name: Environment setup
-        id: env
-        shell: bash
-        run: |
-          # log some info
-          gcc --version || true
-          rustup -V
-          rustup toolchain list
-          rustup default
-          cargo -V
-          rustc -V
-
-          echo "GITHUB_REF=${GITHUB_REF}"
-          echo "GITHUB_SHA=${GITHUB_SHA:0:8}"
-          GIT_BRANCH=`[[ $GITHUB_REF =~ ^refs/heads/.* ]] && echo ${GITHUB_REF/refs\/heads\//} || true`
-          echo "GIT_BRANCH=${GIT_BRANCH}" >> $GITHUB_OUTPUT
-          GIT_TAG=`[[ $GITHUB_REF =~ ^refs/tags/.* ]] && echo ${GITHUB_REF/refs\/tags\//} || true`
-          echo "GIT_TAG=${GIT_TAG}" >> $GITHUB_OUTPUT
-
-          sudo apt-get update
-          sudo apt-get install -y jq
-
-          ZENOH_VERSION=$(cargo metadata --no-deps --format-version 1 | jq -r '.packages[] | select(.name == "zenoh-plugin-ros1") | .version')
-          echo "ZENOH_VERSION=${ZENOH_VERSION}" >> $GITHUB_OUTPUT
-          if [ -n "${GIT_TAG}" ]; then
-            IS_RELEASE="true"
-            echo "IS_RELEASE=${IS_RELEASE}" >> $GITHUB_OUTPUT
-            PKG_VERSION=${ZENOH_VERSION}
-          elif [ -n "${GIT_BRANCH}" ]; then
-            PKG_VERSION=${GIT_BRANCH}-${GITHUB_SHA:0:8}
-          else
-            PKG_VERSION=${ZENOH_VERSION}-${GITHUB_SHA:0:8}
-          fi
-          echo "PKG_VERSION=${PKG_VERSION}" >> $GITHUB_OUTPUT
-          cat ${GITHUB_OUTPUT}
-    outputs:
-      GIT_BRANCH: ${{ steps.env.outputs.GIT_BRANCH }}
-      GIT_TAG: ${{ steps.env.outputs.GIT_TAG }}
-      IS_RELEASE: ${{ steps.env.outputs.IS_RELEASE }}
-      ZENOH_VERSION: ${{ steps.env.outputs.ZENOH_VERSION }}
-      PKG_VERSION: ${{ steps.env.outputs.PKG_VERSION }}
-
-  builds:
-    name: Build for ${{ matrix.job.target }} on ${{ matrix.job.os }}
-    needs: checks
-    runs-on: ${{ matrix.job.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        job:
-          - { target: x86_64-unknown-linux-gnu, arch: amd64, os: ubuntu-20.04 }
-          - { target: x86_64-apple-darwin, arch: darwin, os: macos-latest }
-          - { target: aarch64-apple-darwin, arch: darwin, os: macos-latest }
-          - {
-              target: x86_64-unknown-linux-musl,
-              arch: amd64,
-              os: ubuntu-20.04,
-              use-cross: true,
-            }
-          - {
-              target: arm-unknown-linux-gnueabi,
-              arch: armel,
-              os: ubuntu-20.04,
-              use-cross: true,
-            }
-          - {
-              target: arm-unknown-linux-gnueabihf,
-              arch: armhf,
-              os: ubuntu-20.04,
-              use-cross: true,
-            }
-          - {
-              target: armv7-unknown-linux-gnueabihf,
-              arch: armhf,
-              os: ubuntu-20.04,
-              use-cross: true,
-            }
-          - {
-              target: aarch64-unknown-linux-gnu,
-              arch: arm64,
-              os: ubuntu-20.04,
-              use-cross: true,
-            }
-          - {
-              target: aarch64-unknown-linux-musl,
-              arch: arm64,
-              os: ubuntu-20.04,
-              use-cross: true,
-            }
-          # win is possible to build on, but we don't target it for now
-          # - { target: x86_64-pc-windows-msvc, arch: win64, os: windows-2019 }
-          # - { target: x86_64-pc-windows-gnu         , arch: win64 , os: windows-2019                  }
-    steps:
-      - name: Checkout source code
-        uses: actions/checkout@v2
-        with:
-          fetch-depth: 500 # NOTE: get long history for git-version crate to correctly compute a version
-      - name: Fetch Git tags # NOTE: workaround for https://github.com/actions/checkout/issues/290
-        shell: bash
-        run: git fetch --tags --force
-      - name: Install prerequisites
-        shell: bash
-        run: |
-          case ${{ matrix.job.target }} in
-            *-linux-gnu*) cargo install cargo-deb;;
-          esac
-
-          case ${{ matrix.job.target }} in
-            arm-unknown-linux-gnueabi)
-              sudo apt-get -y update
-              sudo apt-get -y install gcc-arm-linux-gnueabi
-              ;;
-            arm*-unknown-linux-gnueabihf)
-              sudo apt-get -y update
-              sudo apt-get -y install gcc-arm-linux-gnueabihf
-              ;;
-            aarch64-unknown-linux-gnu)
-              sudo apt-get -y update
-              sudo apt-get -y install gcc-aarch64-linux-gnu
-              ;;
-          esac
-
-      - name: Install Rust toolchain
-        uses: actions-rs/toolchain@v1
-        with:
-          toolchain: stable
-          target: ${{ matrix.job.target }}
-          override: true
-          profile: minimal
-
-      - name: zenoh-plugin-ros1 > Build
-        uses: actions-rs/cargo@v1
-        with:
-          use-cross: ${{ matrix.job.use-cross }}
-          command: build
-          args: --release --target=${{ matrix.job.target }} -p zenoh-plugin-ros1
-
-      - name: zenoh-bridge-ros1 > Build
-        uses: actions-rs/cargo@v1
-        with:
-          use-cross: ${{ matrix.job.use-cross }}
-          command: build
-          args: --release --target=${{ matrix.job.target }} -p zenoh-bridge-ros1
-
-      - name: zenoh-plugin-ros1 > Debian package
-        if: contains(matrix.job.target, '-linux-gnu')
-        uses: actions-rs/cargo@v1
-        with:
-          command: deb
-          args: --no-build --target=${{ matrix.job.target }} -p zenoh-plugin-ros1
-
-      - name: zenoh-bridge-ros1 > Debian package
-        if: contains(matrix.job.target, '-linux-gnu')
-        uses: actions-rs/cargo@v1
-        with:
-          command: deb
-          args: --no-build --target=${{ matrix.job.target }} -p zenoh-bridge-ros1
-
-      - name: Packaging
-        id: package
-        shell: bash
-        run: |
-          TARGET=${{ matrix.job.target }}
-          LIB_PKG_NAME="${GITHUB_WORKSPACE}/zenoh-plugin-ros1-${{ needs.checks.outputs.PKG_VERSION }}-${TARGET}.zip"
-          BIN_PKG_NAME="${GITHUB_WORKSPACE}/zenoh-bridge-ros1-${{ needs.checks.outputs.PKG_VERSION }}-${TARGET}.zip"
-          DEBS_PKG_NAME="${GITHUB_WORKSPACE}/zenoh-plugin-ros1-${{ needs.checks.outputs.PKG_VERSION }}-${TARGET}-deb-pkgs.zip"
-
-          case ${TARGET} in
-            *linux*)
-              cd "target/${TARGET}/release/"
-              echo "Packaging ${LIB_PKG_NAME}:"
-              zip ${LIB_PKG_NAME} libzenoh_plugin*.so
-              echo "Packaging ${BIN_PKG_NAME}:"
-              zip ${BIN_PKG_NAME} zenoh-bridge-ros1
-              cd -
-              echo "LIB_PKG_NAME=${LIB_PKG_NAME}" >> $GITHUB_OUTPUT
-              echo "BIN_PKG_NAME=${BIN_PKG_NAME}" >> $GITHUB_OUTPUT
-
-              # check if debian packages has been created and packages them in a single tgz
-              if [[ -d target/${TARGET}/debian ]]; then
-                cd target/${TARGET}/debian
-                echo "Packaging ${DEBS_PKG_NAME}:"
-                zip ${DEBS_PKG_NAME} *.deb
-                cd -
-                echo "DEBS_PKG_NAME=${DEBS_PKG_NAME}" >> $GITHUB_OUTPUT
-              fi
-              ;;
-            *apple*)
-              cd "target/${TARGET}/release/"
-              echo "Packaging ${LIB_PKG_NAME}:"
-              zip ${LIB_PKG_NAME} libzenoh_plugin*.dylib
-              echo "Packaging ${BIN_PKG_NAME}:"
-              zip ${BIN_PKG_NAME} zenoh-bridge-ros1
-              cd -
-              echo "LIB_PKG_NAME=${LIB_PKG_NAME}" >> $GITHUB_OUTPUT
-              echo "BIN_PKG_NAME=${BIN_PKG_NAME}" >> $GITHUB_OUTPUT
-              ;;
-            *windows*)
-              cd "target/${TARGET}/release/"
-              echo "Packaging ${LIB_PKG_NAME}:"
-              7z -y a "${LIB_PKG_NAME}" zenoh-plugin*.dll
-              echo "Packaging ${BIN_PKG_NAME}:"
-              7z -y a "${BIN_PKG_NAME}" zenoh-bridge-ros1.exe
-              cd -
-              echo "LIB_PKG_NAME=${LIB_PKG_NAME}" >> $GITHUB_OUTPUT
-              echo "BIN_PKG_NAME=${BIN_PKG_NAME}" >> $GITHUB_OUTPUT
-              ;;
-          esac
-
-      - name: "Upload packages"
-        uses: actions/upload-artifact@master
-        with:
-          name: ${{ matrix.job.target }}
-          path: |
-            ${{ steps.package.outputs.LIB_PKG_NAME }}
-            ${{ steps.package.outputs.BIN_PKG_NAME }}
-            ${{ steps.package.outputs.DEBS_PKG_NAME }}
-
-  # docker-build:
-  #   name: Docker build and push
-  #   needs: [checks, builds]
-  #   runs-on: ubuntu-latest
-  #   steps:
-  #     - uses: actions/checkout@v2
-  #       with:
-  #         fetch-depth: 500 # NOTE: get long history for git-version crate to correctly compute a version
-  #     - name: Fetch Git tags # NOTE: workaround for https://github.com/actions/checkout/issues/290
-  #       shell: bash
-  #       run: git fetch --tags --force
-  #     - name: Download packages from previous job
-  #       uses: actions/download-artifact@v2
-  #       with:
-  #         path: PACKAGES
-  #     - name: Unzip PACKAGES
-  #       run: |
-  #         ls PACKAGES
-  #         mkdir -p docker/linux/amd
-  #         unzip PACKAGES/x86_64-unknown-linux-musl/zenoh-bridge-ros1-${{ needs.checks.outputs.PKG_VERSION }}-x86_64-unknown-linux-musl.zip -d docker/linux/amd64/
-  #         mkdir -p docker/linux/arm64
-  #         unzip PACKAGES/aarch64-unknown-linux-musl/zenoh-bridge-ros1-${{ needs.checks.outputs.PKG_VERSION }}-aarch64-unknown-linux-musl.zip -d docker/linux/arm64/
-  #         tree docker
-  #     - name: Set up Docker Buildx
-  #       uses: docker/setup-buildx-action@v1
-  #     - name: Docker meta - set tags and labels
-  #       id: meta
-  #       uses: docker/metadata-action@v3
-  #       with:
-  #         images: eclipse/zenoh-bridge-ros1
-  #     - name: Login to DockerHub
-  #       uses: docker/login-action@v1
-  #       with:
-  #         username: ${{ secrets.DOCKER_COM_USERNAME }}
-  #         password: ${{ secrets.DOCKER_COM_PASSWORD }}
-  #     - name: Build and push
-  #       uses: docker/build-push-action@v2
-  #       with:
-  #         context: .
-  #         platforms: linux/amd64,linux/arm64
-  #         file: .github/workflows/Dockerfile
-  #         push: true
-  #         tags: ${{ steps.meta.outputs.tags }}
-  #         labels: ${{ steps.meta.outputs.labels }}
-
-  publication:
-    name: Release publication
-    if: needs.checks.outputs.IS_RELEASE == 'true'
-    needs: [checks, builds]
-    runs-on: ubuntu-latest
-    steps:
-      - name: Download result of previous builds
-        uses: actions/download-artifact@v2
-        with:
-          path: ARTIFACTS
-      - name: Publish as github release
-        uses: softprops/action-gh-release@v1
-        with:
-          files: ARTIFACTS/*/*.*
-      - name: Publish to download.eclipse.org/zenoh
-        env:
-          SSH_TARGET: genie.zenoh@projects-storage.eclipse.org
-          ECLIPSE_BASE_DIR: /home/data/httpd/download.eclipse.org/zenoh/zenoh-plugin-ros1
-        shell: bash
-        run: |
-          echo "--- setup ssh-agent"
-          eval "$(ssh-agent -s)"
-          echo 'echo "${{ secrets.SSH_PASSPHRASE }}"' > ~/.ssh_askpass && chmod +x ~/.ssh_askpass
-          echo "${{ secrets.SSH_PRIVATE_KEY }}" | tr -d '\r' | DISPLAY=NONE SSH_ASKPASS=~/.ssh_askpass ssh-add - > /dev/null 2>&1
-          rm -f ~/.ssh_askpass
-          echo "--- test ssh:"
-          ssh -o "StrictHostKeyChecking=no" ${SSH_TARGET} ls -al
-          echo "---- list artifacts to upload:"
-          ls -R ARTIFACTS || true
-          DOWNLOAD_DIR=${ECLIPSE_BASE_DIR}/${{ needs.checks.outputs.ZENOH_VERSION }}
-          echo "---- copy artifacts into ${DOWNLOAD_DIR}"
-          ssh -o "StrictHostKeyChecking=no" ${SSH_TARGET} mkdir -p ${DOWNLOAD_DIR}
-          cd ARTIFACTS
-          sha256sum */* > sha256sums.txt
-          scp -o "StrictHostKeyChecking=no" -r * ${SSH_TARGET}:${DOWNLOAD_DIR}/
-          echo "---- cleanup identity"
-          ssh-add -D
-      - uses: actions/checkout@v2
-      - name: Install Rust toolchain
-        uses: actions-rs/toolchain@v1
-      - name: Publish to crates.io
-        shell: bash
-        run: |
-          cargo login ${{ secrets.CRATES_IO_TOKEN }}
-          (cd zenoh-plugin-ros1 && cargo publish)
diff --git a/.github/workflows/was_ci_.yml b/.github/workflows/was_ci_.yml
new file mode 100644
index 0000000..e4da4a8
--- /dev/null
+++ b/.github/workflows/was_ci_.yml
@@ -0,0 +1,98 @@
+#
+# Copyright (c) 2023 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+#
+name: CI
+
+on:
+  push:
+    branches: ["**"]
+  pull_request:
+    branches: ["**"]
+  schedule:
+    - cron: "0 6 * * 1-5"
+
+jobs:
+  check:
+    name: Run checks on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Install Rust toolchain
+        uses: actions-rs/toolchain@v1
+        with:
+          components: rustfmt, clippy
+
+      - name: Code format check
+        uses: actions-rs/cargo@v1
+        with:
+          command: fmt
+          args: -- --check
+        env:
+          CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
+
+      - name: Clippy
+        uses: actions-rs/cargo@v1
+        with:
+          command: clippy
+          args: --all-targets -- -D warnings
+        env:
+          CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
+
+  test:
+    name: Run tests on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Install latest Rust toolchain
+        uses: actions-rs/toolchain@v1
+
+      - name: Build
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: --verbose --all-targets
+        env:
+          CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
+
+      - name: Install ROS
+        run: sudo apt install -y ros-base
+
+      - name: Run tests
+        uses: actions-rs/cargo@v1
+        with:
+          command: test
+          args: --verbose
+        env:
+          CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
+          ASYNC_STD_THREAD_COUNT: 4
+
+      - name: Run doctests
+        uses: actions-rs/cargo@v1
+        with:
+          command: test
+          args: --doc
+        env:
+          CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
+          ASYNC_STD_THREAD_COUNT: 4