diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e4da4a8..34633c4 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -11,15 +11,15 @@
 # Contributors:
 #   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 #
-name: CI
+name: Release
 
 on:
-  push:
-    branches: ["**"]
-  pull_request:
-    branches: ["**"]
+  release:
+    types: [published]
   schedule:
-    - cron: "0 6 * * 1-5"
+    - cron: "0 1 * * 1-5"
+  workflow_dispatch:
+
 
 jobs:
   check:
@@ -32,6 +32,8 @@ jobs:
 
     steps:
       - uses: actions/checkout@v2
+        with:
+          submodules: recursive
 
       - name: Install Rust toolchain
         uses: actions-rs/toolchain@v1
@@ -64,6 +66,8 @@ jobs:
 
     steps:
       - uses: actions/checkout@v2
+        with:
+          submodules: recursive
 
       - name: Install latest Rust toolchain
         uses: actions-rs/toolchain@v1
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 34d2cc7..f273a9e 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -11,14 +11,15 @@
 # Contributors:
 #   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 #
-name: Release
+name: CI
 
 on:
-  release:
-    types: [published]
+  push:
+    branches: ["**"]
+  pull_request:
+    branches: ["**"]
   schedule:
-    - cron: "0 1 * * 1-5"
-  workflow_dispatch:
+    - cron: "0 6 * * 1-5"
 
 jobs:
   checks:
@@ -26,6 +27,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
+        with:
+          submodules: recursive
       - name: Install Rust toolchain
         uses: actions-rs/toolchain@v1
         with:
@@ -137,6 +140,7 @@ jobs:
         uses: actions/checkout@v2
         with:
           fetch-depth: 500 # NOTE: get long history for git-version crate to correctly compute a version
+          submodules: recursive
       - name: Fetch Git tags # NOTE: workaround for https://github.com/actions/checkout/issues/290
         shell: bash
         run: git fetch --tags --force
@@ -258,54 +262,55 @@ jobs:
             ${{ 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: ${{ steps.meta.outputs.labels }}
+   docker-build:
+     name: Docker build and push
+     needs: [checks, builds]
+     runs-on: ubuntu-latest
+     steps:
+       - uses: actions/checkout@v2
+         with:
+           fetch-depth: 500 # NOTE: get long history for git-version crate to correctly compute a version
+           submodules: recursive
+       - name: Fetch Git tags # NOTE: workaround for https://github.com/actions/checkout/issues/290
+         shell: bash
+         run: git fetch --tags --force
+       - name: Download packages from previous job
+         uses: actions/download-artifact@v2
+         with:
+           path: PACKAGES
+       - name: Unzip PACKAGES
+         run: |
+           ls PACKAGES
+           mkdir -p docker/linux/amd
+           unzip PACKAGES/x86_64-unknown-linux-musl/zenoh-bridge-ros1-${{ 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:  false # true todo: temporary disabled
+           tags: ${{ steps.meta.outputs.tags }}
+           labels: ${{ steps.meta.outputs.labels }}
 
   publication:
     name: Release publication
-    if: needs.checks.outputs.IS_RELEASE == 'true'
+    if: false # needs.checks.outputs.IS_RELEASE == 'true' todo: temporary disabled
     needs: [checks, builds]
     runs-on: ubuntu-latest
     steps:
@@ -341,6 +346,8 @@ jobs:
           echo "---- cleanup identity"
           ssh-add -D
       - uses: actions/checkout@v2
+        with:
+          submodules: recursive
       - name: Install Rust toolchain
         uses: actions-rs/toolchain@v1
       - name: Publish to crates.io
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..d992dce
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "rosrust"]
+	path = rosrust
+	url = git@github.com:ZettaScaleLabs/rosrust.git
+	branch = feature/fix_bugs
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
new file mode 100644
index 0000000..1dd0b82
--- /dev/null
+++ b/CONTRIBUTING.md
@@ -0,0 +1,51 @@
+# Contributing to Eclipse zenoh
+
+Thanks for your interest in this project.
+
+## Project description
+
+Eclipse zenoh provides is a stack  designed to 
+  1. minimize network overhead, 
+  2. support extremely constrained devices, 
+  3. supports devices with low duty-cycle by allowing the negotiation of data exchange modes and schedules, 
+  4. provide a rich set of abstraction for distributing, querying and storing data along the entire system, and 
+  5. provide extremely low latency and high throughput.
+
+* https://projects.eclipse.org/projects/iot.zenoh
+
+## Developer resources
+
+Information regarding source code management, builds, coding standards, and
+more.
+
+* https://projects.eclipse.org/projects/iot.zenoh/developer
+
+The project maintains the following source code repositories
+
+* https://github.com/eclipse-zenoh
+
+## Eclipse Contributor Agreement
+
+Before your contribution can be accepted by the project team contributors must
+electronically sign the Eclipse Contributor Agreement (ECA).
+
+* http://www.eclipse.org/legal/ECA.php
+
+Commits that are provided by non-committers must have a Signed-off-by field in
+the footer indicating that the author is aware of the terms by which the
+contribution has been provided to the project. The non-committer must
+additionally have an Eclipse Foundation account and must have a signed Eclipse
+Contributor Agreement (ECA) on file.
+
+For more information, please see the Eclipse Committer Handbook:
+https://www.eclipse.org/projects/handbook/#resources-commit
+
+## Contact
+
+Contact the project developers via the project's "dev" list.
+
+* https://accounts.eclipse.org/mailing-list/zenoh-dev
+
+Or via the Gitter channel.
+
+* https://gitter.im/atolab/zenoh
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
new file mode 100644
index 0000000..75d9c63
--- /dev/null
+++ b/CONTRIBUTORS.md
@@ -0,0 +1,7 @@
+# Contributors to Eclipse zenoh-plugin-ros1
+
+These are the contributors to Eclipse zenoh (the initial contributors and the contributors listed in the Git log).
+
+
+| GitHub username | Name                         |
+| --------------- | -----------------------------|
diff --git a/Cargo.lock b/Cargo.lock
index 109a7a2..b76bdad 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2259,7 +2259,6 @@ dependencies = [
 [[package]]
 name = "ros_message"
 version = "0.1.1"
-source = "git+https://github.com/ZettaScaleLabs/rosrust.git?branch=feature/fix_bugs#ff2ed4fe87ae3579ab64453345e54afae7a594a4"
 dependencies = [
  "array-init",
  "hex",
@@ -2275,7 +2274,6 @@ dependencies = [
 [[package]]
 name = "rosrust"
 version = "0.9.11"
-source = "git+https://github.com/ZettaScaleLabs/rosrust.git?branch=feature/fix_bugs#ff2ed4fe87ae3579ab64453345e54afae7a594a4"
 dependencies = [
  "byteorder",
  "colored",
@@ -2298,7 +2296,6 @@ dependencies = [
 [[package]]
 name = "rosrust_codegen"
 version = "0.9.6"
-source = "git+https://github.com/ZettaScaleLabs/rosrust.git?branch=feature/fix_bugs#ff2ed4fe87ae3579ab64453345e54afae7a594a4"
 dependencies = [
  "error-chain 0.12.4",
  "hex",
@@ -2329,7 +2326,7 @@ dependencies = [
  "serde_json",
  "sha1_smol",
  "threadpool",
- "time 0.3.28",
+ "time 0.3.29",
  "tiny_http",
  "url 2.4.1",
 ]
@@ -2545,9 +2542,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.18"
+version = "1.0.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0293b4b29daaf487284529cc2f5675b8e57c61f70167ba415a463651fd6a918"
+checksum = "ad977052201c6de01a8ef2aa3378c4bd23217a056337d1d6da40468d267a4fb0"
 
 [[package]]
 name = "serde"
@@ -2935,9 +2932,9 @@ dependencies = [
 
 [[package]]
 name = "time"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17f6bb557fd245c28e6411aa56b6403c689ad95061f50e4be16c274e70a17e48"
+checksum = "426f806f4089c493dcac0d24c29c01e2c38baf8e30f1b716ee37e83d200b18fe"
 dependencies = [
  "deranged",
  "libc",
@@ -2948,9 +2945,9 @@ dependencies = [
 
 [[package]]
 name = "time-core"
-version = "0.1.1"
+version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7300fbefb4dadc1af235a9cef3737cea692a9d97e1b9cbcd4ebdae6f8868e6fb"
+checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3"
 
 [[package]]
 name = "tiny_http"
@@ -3018,9 +3015,9 @@ dependencies = [
 
 [[package]]
 name = "tokio-tungstenite"
-version = "0.20.0"
+version = "0.20.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b2dbec703c26b00d74844519606ef15d09a7d6857860f84ad223dec002ddea2"
+checksum = "212d5dcb2a1ce06d81107c3d0ffa3121fe974b73f068c8282cb1c32328113b6c"
 dependencies = [
  "futures-util",
  "log 0.4.20",
@@ -3069,9 +3066,9 @@ checksum = "efd1f82c56340fdf16f2a953d7bda4f8fdffba13d93b00844c25572110b26079"
 
 [[package]]
 name = "tungstenite"
-version = "0.20.0"
+version = "0.20.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e862a1c4128df0112ab625f55cd5c934bcb4312ba80b39ae4b4835a3fd58e649"
+checksum = "9e3dac10fd62eaf6617d3a904ae222845979aec67c615d1c842b4002c7666fb9"
 dependencies = [
  "byteorder",
  "bytes",
@@ -3557,8 +3554,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-global-executor",
  "async-std",
@@ -3620,16 +3617,16 @@ dependencies = [
 
 [[package]]
 name = "zenoh-buffers"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "zenoh-collections",
 ]
 
 [[package]]
 name = "zenoh-codec"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "log 0.4.20",
  "serde",
@@ -3640,13 +3637,13 @@ dependencies = [
 
 [[package]]
 name = "zenoh-collections"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 
 [[package]]
 name = "zenoh-config"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "flume",
  "json5",
@@ -3663,8 +3660,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-core"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-std",
  "lazy_static",
@@ -3673,8 +3670,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-crypto"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "aes",
  "hmac",
@@ -3686,8 +3683,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-ext"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-std",
  "bincode",
@@ -3706,8 +3703,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-keyexpr"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "hashbrown 0.14.0",
  "keyed-set",
@@ -3720,8 +3717,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3739,8 +3736,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-commons"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3755,8 +3752,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-quic"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3779,8 +3776,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-tcp"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3795,8 +3792,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-tls"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3818,8 +3815,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-udp"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3837,8 +3834,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-unixsock_stream"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3855,8 +3852,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-ws"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3875,8 +3872,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-macros"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3892,6 +3889,7 @@ version = "0.10.0-dev"
 dependencies = [
  "async-global-executor",
  "async-std",
+ "async-trait",
  "atoi",
  "ctrlc",
  "duration-string",
@@ -3921,8 +3919,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-plugin-trait"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "libloading",
  "log 0.4.20",
@@ -3934,8 +3932,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-protocol"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "const_format",
  "hex",
@@ -3950,16 +3948,16 @@ dependencies = [
 
 [[package]]
 name = "zenoh-result"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "anyhow",
 ]
 
 [[package]]
 name = "zenoh-sync"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-std",
  "event-listener",
@@ -3973,8 +3971,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-transport"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-executor",
  "async-global-executor",
@@ -4004,8 +4002,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-util"
-version = "0.10.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git#46c8fa1f13ac8bab76366332bf30585b53be9d11"
+version = "0.10.0-rc"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=release-0.10.0-rc#37f80d9befc757ca091a748e41217b8cd1bdf16c"
 dependencies = [
  "async-std",
  "async-trait",
diff --git a/Cargo.toml b/Cargo.toml
index 198ab0c..3c42522 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -17,6 +17,7 @@ members = [
   "zenoh-bridge-ros1",
   "zenoh-plugin-ros1",
 ]
+exclude = [ "rosrust" ]
 
 [workspace.package]
 version = "0.10.0-dev"
@@ -33,6 +34,7 @@ categories = ["network-programming"]
 [workspace.dependencies]
 atoi = "2.0.0"
 async-std = "=1.12.0"
+async-trait = "0.1"
 clap = "3.2.23"
 ctrlc = "3.2.5"
 env_logger = "0.9.1"
@@ -47,11 +49,11 @@ rand = "0.8.5"
 strum = "0.24"
 strum_macros = "0.24"
 duration-string = "0.3.0"
-zenoh = { git = "https://github.com/eclipse-zenoh/zenoh.git", features = ["unstable"] }
-zenoh-ext = { git = "https://github.com/eclipse-zenoh/zenoh.git", features = ["unstable"] }
-zenoh-core = { git = "https://github.com/eclipse-zenoh/zenoh.git" }
-zenoh-plugin-trait = { git = "https://github.com/eclipse-zenoh/zenoh.git", default-features = false }
-rosrust = { git = "https://github.com/ZettaScaleLabs/rosrust.git", branch = "feature/fix_bugs" }
+zenoh = { version = "0.10.0-rc", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "release-0.10.0-rc" }
+zenoh-ext = { version = "0.10.0-rc", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "release-0.10.0-rc" }
+zenoh-core = { version = "0.10.0-rc", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "release-0.10.0-rc" }
+zenoh-plugin-trait = { version = "0.10.0-rc", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "release-0.10.0-rc", default-features = false }
+rosrust = { version = "0.9.11", path = "rosrust/rosrust" }
 flume = "0.11"
 hex = "0.4.3"
 xml-rpc = "0.0.12"
diff --git a/Cross.toml b/Cross.toml
new file mode 100644
index 0000000..127ef5e
--- /dev/null
+++ b/Cross.toml
@@ -0,0 +1,18 @@
+[target.x86_64-unknown-linux-musl]
+image = "jenoch/rust-cross:x86_64-unknown-linux-musl"
+
+[target.arm-unknown-linux-gnueabi]
+image = "jenoch/rust-cross:arm-unknown-linux-gnueabi"
+
+[target.arm-unknown-linux-gnueabihf]
+image = "jenoch/rust-cross:arm-unknown-linux-gnueabihf"
+
+[target.armv7-unknown-linux-gnueabihf]
+image = "jenoch/rust-cross:armv7-unknown-linux-gnueabihf"
+
+[target.aarch64-unknown-linux-gnu]
+image = "jenoch/rust-cross:aarch64-unknown-linux-gnu"
+
+[target.aarch64-unknown-linux-musl]
+image = "jenoch/rust-cross:aarch64-unknown-linux-musl"
+
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..f3d2286
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,55 @@
+#
+# 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>
+#
+
+
+###
+### Build part
+###
+FROM rust:slim-buster as builder
+
+WORKDIR /usr/src/zenoh-plugin-ros1
+
+# List of installed tools:
+#  * for zenoh-plugin-ros1
+#     - git
+#     - clang
+RUN apt-get update && apt-get -y install git clang build-essential
+
+COPY . .
+# if exists, copy .git directory to be used by git-version crate to determine the version
+COPY .gi? .git/
+
+RUN cargo install --locked --path zenoh-bridge-ros1
+
+
+###
+### Run part
+###
+FROM debian:buster-slim
+
+COPY --from=builder /usr/local/cargo/bin/zenoh-bridge-ros1 /usr/local/bin/zenoh-bridge-ros1
+RUN ldconfig -v
+
+RUN echo '#!/bin/bash' > /entrypoint.sh
+RUN echo 'echo " * Starting: zenoh-bridge-ros1 $*"' >> /entrypoint.sh
+RUN echo 'exec zenoh-bridge-ros1 $*' >> /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+EXPOSE 7446/udp
+EXPOSE 7447/tcp
+EXPOSE 8000/tcp
+
+ENV RUST_LOG info
+
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/NOTICE.md b/NOTICE.md
new file mode 100644
index 0000000..5b6751c
--- /dev/null
+++ b/NOTICE.md
@@ -0,0 +1,41 @@
+# Notices for Eclipse zenoh-plugin-ros1
+
+This content is produced and maintained by the Eclipse zenoh project.
+
+ * Project home: https://projects.eclipse.org/projects/iot.zenoh
+
+## Trademarks
+
+Eclipse zenoh is trademark of the Eclipse Foundation. 
+Eclipse, and the Eclipse Logo are registered trademarks of the Eclipse Foundation.
+
+## Copyright
+
+All content is the property of the respective authors or their employers.
+For more information regarding authorship of content, please consult the
+listed source code repository logs.
+
+## Declared Project Licenses
+
+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
+
+## Source Code
+
+The project maintains the following source code repositories:
+
+ * https://github.com/eclipse-zenoh/zenoh.git
+ * https://github.com/eclipse-zenoh/zenoh-c.git
+ * https://github.com/eclipse-zenoh/zenoh-java.git
+ * https://github.com/eclipse-zenoh/zenoh-go.git
+ * https://github.com/eclipse-zenoh/zenoh-python.git
+ * https://github.com/eclipse-zenoh/zenoh-plugin-dds.git
+
+## Third-party Content
+
+ *To be completed...*
+
diff --git a/rosrust b/rosrust
new file mode 160000
index 0000000..ff2ed4f
--- /dev/null
+++ b/rosrust
@@ -0,0 +1 @@
+Subproject commit ff2ed4fe87ae3579ab64453345e54afae7a594a4
diff --git a/zenoh-plugin-ros1/Cargo.toml b/zenoh-plugin-ros1/Cargo.toml
index a792380..9f558f8 100644
--- a/zenoh-plugin-ros1/Cargo.toml
+++ b/zenoh-plugin-ros1/Cargo.toml
@@ -42,6 +42,7 @@ log = { workspace = true }
 serde = { workspace = true }
 serde_json = { workspace = true }
 async-global-executor = { workspace = true }
+async-trait = { workspace = true }
 rand = { workspace = true }
 strum = { workspace = true }
 strum_macros = { workspace = true }
@@ -73,4 +74,4 @@ maintainer = "zenoh-dev@eclipse.org"
 copyright = "2017, 2022 ZettaScale Technology Inc."
 section = "net"
 license-file = ["../LICENSE", "0"]
-depends = "zenohd (=0.10.0-dev)"
\ No newline at end of file
+depends = "zenohd (=0.10.0-dev)"
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/rosclient_test_helpers.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/rosclient_test_helpers.rs
index 7c2bcc3..5c6c77e 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/rosclient_test_helpers.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/rosclient_test_helpers.rs
@@ -16,25 +16,22 @@ use std::time::Duration;
 
 use rosrust::{Publisher, RawMessage, Subscriber};
 
-use super::{ros1_client::Ros1Client, test_helpers::wait};
+use super::{ros1_client::Ros1Client, test_helpers::wait_sync};
 
 pub fn wait_for_rosclient_to_connect(rosclient: &Ros1Client) -> bool {
-    async_std::task::block_on(wait(
-        || rosclient.topic_types().is_ok(),
-        Duration::from_secs(10),
-    ))
+    wait_sync(|| rosclient.topic_types().is_ok(), Duration::from_secs(10))
 }
 
 pub fn wait_for_publishers(subscriber: &Subscriber, count: usize) -> bool {
-    async_std::task::block_on(wait(
+    wait_sync(
         || subscriber.publisher_count() == count,
         Duration::from_secs(10),
-    ))
+    )
 }
 
 pub fn wait_for_subscribers(publisher: &Publisher<RawMessage>, count: usize) -> bool {
-    async_std::task::block_on(wait(
+    wait_sync(
         || publisher.subscriber_count() == count,
         Duration::from_secs(10),
-    ))
+    )
 }
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/test_helpers.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/test_helpers.rs
index d1eae1a..e53b7c8 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/test_helpers.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/test_helpers.rs
@@ -12,6 +12,9 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
+use async_std::prelude::FutureExt;
+use async_trait::async_trait;
+use futures::Future;
 use log::error;
 use rosrust::{Client, RawMessage, RawMessageDescription};
 use std::process::Command;
@@ -19,11 +22,13 @@ use std::sync::atomic::AtomicBool;
 use std::sync::atomic::AtomicUsize;
 use std::sync::atomic::Ordering::*;
 use std::sync::{Arc, Mutex, RwLock};
+use std::time::Duration;
 use std::{net::SocketAddr, str::FromStr, sync::atomic::AtomicU16};
 use zenoh::config::ModeDependentValue;
 use zenoh::prelude::OwnedKeyExpr;
 use zenoh::prelude::SplitBuffer;
 use zenoh::sample::Sample;
+use zenoh::Session;
 use zenoh_core::{bail, zlock, zresult::ZResult, AsyncResolve, SyncResolve};
 
 use super::discovery::LocalResources;
@@ -77,7 +82,7 @@ impl IsolatedROSMaster {
     }
 }
 
-pub async fn wait<Waiter>(waiter: Waiter, timeout: core::time::Duration) -> bool
+pub fn wait_sync<Waiter>(waiter: Waiter, timeout: Duration) -> bool
 where
     Waiter: Fn() -> bool,
 {
@@ -85,17 +90,43 @@ where
     let millis = timeout.as_millis() / cycles + 1;
 
     for _i in 0..cycles {
-        async_std::task::sleep(core::time::Duration::from_millis(
-            millis.try_into().unwrap(),
-        ))
-        .await;
         if waiter() {
             return true;
         }
+        std::thread::sleep(Duration::from_millis(millis.try_into().unwrap()));
     }
     false
 }
 
+pub async fn wait_async_fn<Waiter>(waiter: Waiter, timeout: Duration) -> bool
+where
+    Waiter: Fn() -> bool,
+{
+    let sleep_millis = 10u64;
+    let cycles = (timeout.as_millis() as u64) / sleep_millis + 1;
+
+    for _i in 0..cycles {
+        if waiter() {
+            return true;
+        }
+        async_std::task::sleep(Duration::from_millis(sleep_millis)).await;
+    }
+    false
+}
+
+pub async fn wait_async<Waiter, Fut>(waiter: Waiter, timeout: Duration) -> bool
+where
+    Waiter: Fn() -> Fut + Send + Sync,
+    Fut: Future<Output = bool>,
+{
+    let w = async {
+        while !waiter().await {
+            async_std::task::sleep(Duration::from_millis(10)).await
+        }
+    };
+    w.timeout(timeout).await.is_ok()
+}
+
 pub struct RunningBridge {
     flag: Arc<AtomicBool>,
 
@@ -152,14 +183,11 @@ impl RunningBridge {
         self.assert_status(RosStatus::Ok).await;
     }
     pub async fn assert_status(&self, status: RosStatus) {
-        assert!(
-            self.wait_ros_status(status, core::time::Duration::from_secs(10))
-                .await
-        );
+        assert!(self.wait_ros_status(status, Duration::from_secs(10)).await);
     }
-    pub async fn wait_ros_status(&self, status: RosStatus, timeout: core::time::Duration) -> bool {
-        wait(
-            move || {
+    pub async fn wait_ros_status(&self, status: RosStatus, timeout: Duration) -> bool {
+        wait_async_fn(
+            || {
                 let val = self.ros_status.lock().unwrap();
                 *val == status
             },
@@ -173,16 +201,16 @@ impl RunningBridge {
     }
     pub async fn assert_bridge_status<F: Fn() -> BridgeStatus>(&self, status: F) {
         assert!(
-            self.wait_bridge_status(status, core::time::Duration::from_secs(120))
+            self.wait_bridge_status(status, Duration::from_secs(120))
                 .await
         );
     }
     pub async fn wait_bridge_status<F: Fn() -> BridgeStatus>(
         &self,
         status: F,
-        timeout: core::time::Duration,
+        timeout: Duration,
     ) -> bool {
-        wait(
+        wait_async_fn(
             move || {
                 let expected = (status)();
                 let real = self.bridge_status.lock().unwrap();
@@ -252,6 +280,7 @@ impl ROSEnvironment {
 }
 
 pub struct BridgeChecker {
+    session: Arc<Session>,
     ros_client: ros1_client::Ros1Client,
     zenoh_client: zenoh_client::ZenohClient,
     pub local_resources: LocalResources,
@@ -263,6 +292,7 @@ impl BridgeChecker {
     pub fn new(config: zenoh::config::Config, ros_master_uri: &str) -> BridgeChecker {
         let session = zenoh::open(config).res_sync().unwrap().into_arc();
         BridgeChecker {
+            session: session.clone(),
             ros_client: ros1_client::Ros1Client::new("test_ros_node", ros_master_uri).unwrap(),
             zenoh_client: zenoh_client::ZenohClient::new(session.clone()),
             local_resources: LocalResources::new("*".to_string(), "*".to_string(), session),
@@ -270,6 +300,19 @@ impl BridgeChecker {
         }
     }
 
+    pub async fn assert_zenoh_peers(&self, peer_count: usize) {
+        assert!(
+            self.wait_for_zenoh_peers(peer_count, Duration::from_secs(30))
+                .await
+        );
+    }
+
+    async fn wait_for_zenoh_peers(&self, peer_count: usize, timeout: Duration) -> bool {
+        let waiter =
+            || async { self.session.info().peers_zid().res_async().await.count() == peer_count };
+        wait_async(waiter, timeout).await
+    }
+
     pub async fn make_zenoh_subscriber<C>(
         &self,
         name: &str,
@@ -607,9 +650,10 @@ impl Drop for ROS1Client {
     }
 }
 
-pub trait Publisher {
+#[async_trait]
+pub trait Publisher: Sync {
     fn put(&self, data: Vec<u8>);
-    fn ready(&self) -> bool {
+    async fn ready(&self) -> bool {
         true
     }
 }
@@ -619,6 +663,7 @@ impl Publisher for ZenohPublisher {
         async_std::task::spawn_blocking(move || inner.put(data).res_sync().unwrap());
     }
 }
+#[async_trait]
 impl Publisher for ROS1Publisher {
     fn put(&self, data: Vec<u8>) {
         let inner = self.inner.clone();
@@ -627,10 +672,11 @@ impl Publisher for ROS1Publisher {
         });
     }
 
-    fn ready(&self) -> bool {
+    async fn ready(&self) -> bool {
         self.inner.data.subscriber_count() != 0
     }
 }
+#[async_trait]
 impl Publisher for ZenohQuery {
     fn put(&self, data: Vec<u8>) {
         async_std::task::spawn(Self::query_loop(
@@ -642,14 +688,14 @@ impl Publisher for ZenohQuery {
         ));
     }
 
-    fn ready(&self) -> bool {
+    async fn ready(&self) -> bool {
         let data = (0..10).collect();
-        async_std::task::block_on(
-            async move { Self::make_query(&self.inner, &self.key, &data).await },
-        )
-        .is_ok()
+        Self::make_query(&self.inner, &self.key, &data)
+            .await
+            .is_ok()
     }
 }
+#[async_trait]
 impl Publisher for ROS1Client {
     fn put(&self, data: Vec<u8>) {
         let running = self.running.clone();
@@ -666,14 +712,18 @@ impl Publisher for ROS1Client {
         });
     }
 
-    fn ready(&self) -> bool {
+    async fn ready(&self) -> bool {
         let description = RawMessageDescription {
             msg_definition: String::from("*"),
             md5sum: self.topic.md5.clone(),
             msg_type: self.topic.datatype.clone(),
         };
         let data = (0..10).collect();
-        Self::make_query(description, &data, &self.ros1_client).is_ok()
+        let ros1_client = self.ros1_client.clone();
+        async_std::task::spawn_blocking(move || {
+            Self::make_query(description, &data, &ros1_client).is_ok()
+        })
+        .await
     }
 }
 
@@ -690,7 +740,7 @@ pub struct ROS1Service {
     pub _inner: RAIICounter<rosrust::Service>,
 }
 
-pub trait Subscriber {
+pub trait Subscriber: Sync {
     fn ready(&self) -> bool {
         true
     }
diff --git a/zenoh-plugin-ros1/tests/bridge_to_bridge.rs b/zenoh-plugin-ros1/tests/bridge_to_bridge.rs
index 702fbd4..edb75e0 100644
--- a/zenoh-plugin-ros1/tests/bridge_to_bridge.rs
+++ b/zenoh-plugin-ros1/tests/bridge_to_bridge.rs
@@ -13,14 +13,18 @@
 //
 
 use std::sync::Arc;
+use std::time::Duration;
 use std::{collections::HashSet, sync::atomic::AtomicU64};
 
+use async_std::prelude::FutureExt;
 use log::{debug, trace};
 use rosrust::RawMessage;
 use std::sync::atomic::{AtomicUsize, Ordering::*};
 use strum_macros::Display;
 use zenoh::prelude::{KeyExpr, OwnedKeyExpr};
-use zenoh_plugin_ros1::ros_to_zenoh_bridge::test_helpers::{self, wait, Publisher, Subscriber};
+use zenoh_plugin_ros1::ros_to_zenoh_bridge::test_helpers::{
+    self, wait_async, Publisher, Subscriber,
+};
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
     bridging_mode::BridgingMode,
     environment::Environment,
@@ -193,27 +197,42 @@ impl SrcDstPair {
 
     async fn start(&self) {
         self.wait_for_ready().await;
-        self.start_ping_pong().await;
+        assert!(self.start_ping_pong().await);
     }
 
     async fn wait_for_ready(&self) {
         assert!(
-            wait(
-                move || { self.src.ready() && self.dst.ready() },
+            wait_async(
+                || async { self.src.ready().await && self.dst.ready() },
                 core::time::Duration::from_secs(30)
             )
             .await
         );
     }
 
-    async fn start_ping_pong(&self) {
+    async fn start_ping_pong(&self) -> bool {
         debug!("Starting ping-pong!");
         let mut data = Vec::new();
         data.reserve(TestParams::data_size() as usize);
         for i in 0..TestParams::data_size() {
             data.push((i % 255) as u8);
         }
-        self.src.put(data.clone());
+
+        async {
+            while {
+                self.src.put(data.clone());
+                !test_helpers::wait_async_fn(
+                    || self.counter.load(Relaxed) > 0,
+                    Duration::from_secs(5),
+                )
+                .await
+            } {
+                debug!("Restarting ping-pong!");
+            }
+        }
+        .timeout(Duration::from_secs(30))
+        .await
+        .is_ok()
     }
 
     async fn check_pps(&self, pps_measurements: u32) {
diff --git a/zenoh-plugin-ros1/tests/discovery_test.rs b/zenoh-plugin-ros1/tests/discovery_test.rs
index 04b1203..c02fc33 100644
--- a/zenoh-plugin-ros1/tests/discovery_test.rs
+++ b/zenoh-plugin-ros1/tests/discovery_test.rs
@@ -27,7 +27,7 @@ use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
     topic_descriptor::TopicDescriptor,
 };
 
-const TIMEOUT: Duration = Duration::from_secs(10);
+const TIMEOUT: Duration = Duration::from_secs(60);
 
 fn session_builder(cfg: &IsolatedConfig) -> OpenBuilder<zenoh::config::Config> {
     zenoh::open(cfg.peer())
diff --git a/zenoh-plugin-ros1/tests/ping_pong_test.rs b/zenoh-plugin-ros1/tests/ping_pong_test.rs
index 3ae33c1..44a0a48 100644
--- a/zenoh-plugin-ros1/tests/ping_pong_test.rs
+++ b/zenoh-plugin-ros1/tests/ping_pong_test.rs
@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
+use async_std::prelude::FutureExt;
 use strum_macros::Display;
 use zenoh::prelude::SplitBuffer;
 use zenoh_core::SyncResolve;
@@ -22,15 +23,16 @@ use std::{
         atomic::{AtomicBool, AtomicU64, Ordering::*},
         Arc,
     },
+    time::Duration,
 };
 
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
     bridging_mode::BridgingMode,
     environment::Environment,
     test_helpers::{
-        BridgeChecker, Publisher, ROS1Client, ROS1Publisher, ROS1Service, ROS1Subscriber,
-        ROSEnvironment, RunningBridge, Subscriber, TestParams, ZenohPublisher, ZenohQuery,
-        ZenohQueryable, ZenohSubscriber,
+        self, wait_async_fn, BridgeChecker, Publisher, ROS1Client, ROS1Publisher, ROS1Service,
+        ROS1Subscriber, ROSEnvironment, RunningBridge, Subscriber, TestParams, ZenohPublisher,
+        ZenohQuery, ZenohQueryable, ZenohSubscriber,
     },
 };
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
@@ -234,13 +236,13 @@ impl PingPong {
         let rpub = ros1_pub.clone();
         let zenoh_sub = backend
             .make_zenoh_subscriber(key, move |msg| {
+                c.fetch_add(1, Relaxed);
                 let data = msg.value.payload.contiguous().to_vec();
                 debug!(
                     "PingPong: transferring {} bytes from Zenoh to ROS1!",
                     data.len()
                 );
                 rpub.data.send(rosrust::RawMessage(data)).unwrap();
-                c.fetch_add(1, Relaxed);
             })
             .await;
 
@@ -268,12 +270,12 @@ impl PingPong {
         let c = cycles.clone();
         let zpub = zenoh_pub.clone();
         let ros1_sub = backend.make_ros_subscriber(key, move |msg: rosrust::RawMessage| {
+            c.fetch_add(1, Relaxed);
             debug!(
                 "PingPong: transferring {} bytes from ROS1 to Zenoh!",
                 msg.0.len()
             );
             zpub.put(msg.0).res_sync().unwrap();
-            c.fetch_add(1, Relaxed);
         });
 
         PingPong {
@@ -289,17 +291,28 @@ impl PingPong {
 
     async fn start(&self) {
         self.wait_for_pub_sub_ready().await;
-        self.start_ping_pong().await;
+        assert!(self.start_ping_pong().await);
     }
 
-    async fn start_ping_pong(&self) {
+    async fn start_ping_pong(&self) -> bool {
         debug!("Starting ping-pong!");
         let mut data = Vec::new();
         data.reserve(TestParams::data_size() as usize);
         for i in 0..TestParams::data_size() {
             data.push((i % 255) as u8);
         }
-        self.pub_sub.publisher.put(data.clone());
+
+        async {
+            while {
+                self.pub_sub.publisher.put(data.clone());
+                !wait_async_fn(|| self.cycles.load(Relaxed) > 0, Duration::from_secs(5)).await
+            } {
+                debug!("Restarting ping-pong!");
+            }
+        }
+        .timeout(Duration::from_secs(30))
+        .await
+        .is_ok()
     }
 
     async fn check_pps(&self, pps_measurements: u32) {
@@ -319,8 +332,8 @@ impl PingPong {
         let mut duration: u64 = 0;
 
         self.cycles.store(0, Relaxed);
-        while !(result > 0.0 || duration >= 10000) {
-            async_std::task::sleep(core::time::Duration::from_millis(duration_milliseconds)).await;
+        while !(result > 0.0 || duration >= 30000) {
+            async_std::task::sleep(Duration::from_millis(duration_milliseconds)).await;
             duration += duration_milliseconds;
             result += self.cycles.load(Relaxed) as f64;
         }
@@ -330,32 +343,14 @@ impl PingPong {
 
     async fn wait_for_pub_sub_ready(&self) {
         assert!(
-            Self::wait(
-                move || { self.pub_sub.publisher.ready() && self.pub_sub.subscriber.ready() },
-                core::time::Duration::from_secs(30)
+            test_helpers::wait_async(
+                || async {
+                    self.pub_sub.publisher.ready().await && self.pub_sub.subscriber.ready()
+                },
+                Duration::from_secs(30)
             )
             .await
         );
-        async_std::task::sleep(time::Duration::from_secs(1)).await;
-    }
-
-    async fn wait<Waiter>(waiter: Waiter, timeout: core::time::Duration) -> bool
-    where
-        Waiter: Fn() -> bool,
-    {
-        let cycles = 1000;
-        let micros = timeout.as_micros() / cycles;
-
-        for _i in 0..cycles {
-            async_std::task::sleep(core::time::Duration::from_micros(
-                micros.try_into().unwrap(),
-            ))
-            .await;
-            if waiter() {
-                return true;
-            }
-        }
-        false
     }
 }
 
@@ -383,6 +378,7 @@ impl TestEnvironment {
         // - performs wait and ensures that everything is properly connected and negotiated within the bridge
         async_std::task::block_on(bridge.assert_ros_ok());
         async_std::task::block_on(bridge.assert_bridge_empy());
+        async_std::task::block_on(checker.assert_zenoh_peers(1));
 
         TestEnvironment {
             bridge,