diff --git a/.cargo/config b/.cargo/config
new file mode 100644
index 0000000..5adae5e
--- /dev/null
+++ b/.cargo/config
@@ -0,0 +1,5 @@
+[target.x86_64-unknown-linux-musl]
+rustflags = "-Ctarget-feature=-crt-static"
+
+[target.aarch64-unknown-linux-musl]
+rustflags = "-Ctarget-feature=-crt-static"
diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml
new file mode 100644
index 0000000..3f870b7
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/bug_report.yml
@@ -0,0 +1,38 @@
+name: Report a bug
+description: |
+  Create a bug report to help us improve Zenoh.
+title: "[Bug] "
+labels: ["bug"]
+body:
+  - type: textarea
+    id: summary
+    attributes:
+      label: "Describe the bug"
+      description: |
+        A clear and concise description of the expected behaviour and what the bug is.
+      placeholder: |
+        E.g. zenoh peers can not automatically establish a connection.
+    validations:
+      required: true
+  - type: textarea
+    id: reproduce
+    attributes:
+      label: To reproduce
+      description: "Steps to reproduce the behavior:"
+      placeholder: |
+        1. Start a zenoh-bridge-ros2dds with config "..."
+        2. Start a ROS2 node "...."
+        3. See error
+    validations:
+      required: true
+  - type: textarea
+    id: system
+    attributes:
+      label: System info
+      description: "Please complete the following information:"
+      placeholder: |
+        - Platform: [e.g. Ubuntu 20.04 64-bit]
+        - CPU [e.g. AMD Ryzen 3800X]
+        - Zenoh version/commit [e.g. 6f172ea985d42d20d423a192a2d0d46bb0ce0d11]
+    validations:
+      required: true
diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
new file mode 100644
index 0000000..0c05a05
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/config.yml
@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Ask a question
+    url: https://github.com/eclipse-zenoh/roadmap/discussions/categories/zenoh
+    about: Open to the Zenoh community. Share your feedback with the Zenoh team.
diff --git a/.github/ISSUE_TEMPLATE/feature_request.yml b/.github/ISSUE_TEMPLATE/feature_request.yml
new file mode 100644
index 0000000..811540e
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/feature_request.yml
@@ -0,0 +1,26 @@
+name: Request a feature
+description: |
+  Suggest a new feature specific to this repository. NOTE: for generic Zenoh ideas use "Ask a question".
+body:
+  - type: markdown
+    attributes:
+      value: |
+        **Guidelines for a good issue**
+
+        *Is your feature request related to a problem?*
+        A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+        *Describe the solution you'd like*
+        A clear and concise description of what you want to happen.
+
+        *Describe alternatives you've considered*
+        A clear and concise description of any alternative solutions or features you've considered.
+
+        *Additional context*
+        Add any other context about the feature request here.
+  - type: textarea
+    id: feature
+    attributes:
+      label: "Describe the feature"
+    validations:
+      required: true
diff --git a/.github/release.yml b/.github/release.yml
new file mode 100644
index 0000000..c402202
--- /dev/null
+++ b/.github/release.yml
@@ -0,0 +1,25 @@
+#
+# 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>
+#
+
+changelog:
+  categories:
+    - title: New features 🎉
+      labels:
+        - enhancement
+    - title: Bug fixes 🐞
+      labels:
+        - bug
+    - title: Other changes
+      labels:
+        - "*"
diff --git a/.github/workflows/Dockerfile b/.github/workflows/Dockerfile
new file mode 100644
index 0000000..4855a16
--- /dev/null
+++ b/.github/workflows/Dockerfile
@@ -0,0 +1,42 @@
+#
+# 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>
+#
+
+###
+### Dockerfile creating the eclipse/zenoh-bridge-ros2dds image from cross-compiled binaries.
+### It assumes that zenoh-bridge-ros2dds is installed in docker/$TARGETPLATFORM/
+### where $TARGETPLATFORM is set by buildx to a Docker supported platform such as linux/amd64 or linux/arm64
+### (see https://docs.docker.com/buildx/working-with-buildx/#build-multi-platform-images)
+###
+
+
+FROM alpine:latest
+
+ARG TARGETPLATFORM
+
+RUN apk add --no-cache libgcc libstdc++
+
+COPY docker/$TARGETPLATFORM/zenoh-bridge-ros2dds /
+
+RUN echo '#!/bin/ash' > /entrypoint.sh
+RUN echo 'echo " * Starting: /zenoh-bridge-ros2dds $*"' >> /entrypoint.sh
+RUN echo 'exec /zenoh-bridge-ros2dds $*' >> /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+EXPOSE 7446/udp
+EXPOSE 7447/tcp
+EXPOSE 8000/tcp
+
+ENV RUST_LOG info
+
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
new file mode 100644
index 0000000..aa42e83
--- /dev/null
+++ b/.github/workflows/release.yml
@@ -0,0 +1,349 @@
+#
+# Copyright (c) 2022 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+#
+name: Release
+
+on:
+  release:
+    types: [published]
+  schedule:
+    - cron: "0 1 * * 1-5"
+  workflow_dispatch:
+
+jobs:
+  checks:
+    name: Code checks
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install Rust toolchain
+        run: |
+          rustup show
+          rustup component add rustfmt clippy
+      - name: Code format check
+        uses: actions-rs/cargo@v1
+        with:
+          command: fmt
+          args: -- --check
+      # - name: Clippy check
+      #   uses: actions-rs/cargo@v1
+      #   with:
+      #     command: clippy
+      #     args: -- -D warnings
+      - name: Environment setup
+        id: env
+        shell: bash
+        run: |
+          # log some info
+          gcc --version || true
+          rustup -V
+          rustup toolchain list
+          rustup default
+          cargo -V
+          rustc -V
+
+          echo "GITHUB_REF=${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-ros2dds") | .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-22.04 }
+          - { target: x86_64-apple-darwin, arch: darwin, os: macos-12 }
+          - { target: aarch64-apple-darwin, arch: darwin, os: macos-12 }
+          - {
+              target: x86_64-unknown-linux-musl,
+              arch: amd64,
+              os: ubuntu-22.04,
+              use-cross: true,
+            }
+          - {
+              target: arm-unknown-linux-gnueabi,
+              arch: armel,
+              os: ubuntu-22.04,
+              use-cross: true,
+            }
+          - {
+              target: arm-unknown-linux-gnueabihf,
+              arch: armhf,
+              os: ubuntu-22.04,
+              use-cross: true,
+            }
+          - {
+              target: armv7-unknown-linux-gnueabihf,
+              arch: armhf,
+              os: ubuntu-22.04,
+              use-cross: true,
+            }
+          - {
+              target: aarch64-unknown-linux-gnu,
+              arch: arm64,
+              os: ubuntu-22.04,
+              use-cross: true,
+            }
+          - {
+              target: aarch64-unknown-linux-musl,
+              arch: arm64,
+              os: ubuntu-22.04,
+              use-cross: true,
+            }
+          - { target: x86_64-pc-windows-msvc, arch: win64, os: windows-2022 }
+          ##
+          ## NOTE: cannon build for Windows GNU as not supported by cyclors
+          ##
+          # - { target: x86_64-pc-windows-gnu, arch: win64 , os: windows-2022 }
+    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
+        run: |
+          rustup show
+          rustup target add ${{ matrix.job.target }}
+
+      - name: zenoh-plugin-ros2dds > Build
+        uses: actions-rs/cargo@v1
+        with:
+          use-cross: ${{ matrix.job.use-cross }}
+          command: build
+          args: --release --target=${{ matrix.job.target }} -p zenoh-plugin-ros2dds
+
+      - name: zenoh-bridge-ros2dds > Build
+        uses: actions-rs/cargo@v1
+        with:
+          use-cross: ${{ matrix.job.use-cross }}
+          command: build
+          args: --release --target=${{ matrix.job.target }} -p zenoh-bridge-ros2dds
+
+      - name: zenoh-plugin-ros2dds > Debian package
+        if: contains(matrix.job.target, '-linux-gnu')
+        uses: actions-rs/cargo@v1
+        with:
+          command: deb
+          args: --no-build --target=${{ matrix.job.target }} -p zenoh-plugin-ros2dds
+
+      - name: zenoh-bridge-ros2dds > Debian package
+        if: contains(matrix.job.target, '-linux-gnu')
+        uses: actions-rs/cargo@v1
+        with:
+          command: deb
+          args: --no-build --target=${{ matrix.job.target }} -p zenoh-bridge-ros2dds
+
+      - name: Packaging
+        id: package
+        shell: bash
+        run: |
+          TARGET=${{ matrix.job.target }}
+          LIB_PKG_NAME="${GITHUB_WORKSPACE}/zenoh-plugin-ros2dds-${{ needs.checks.outputs.PKG_VERSION }}-${TARGET}.zip"
+          BIN_PKG_NAME="${GITHUB_WORKSPACE}/zenoh-bridge-ros2dds-${{ needs.checks.outputs.PKG_VERSION }}-${TARGET}.zip"
+          DEBS_PKG_NAME="${GITHUB_WORKSPACE}/zenoh-plugin-ros2dds-${{ needs.checks.outputs.PKG_VERSION }}-${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 ${BIN_PKG_NAME} zenoh-bridge-ros2dds
+              cd -
+              echo "LIB_PKG_NAME=${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 ${BIN_PKG_NAME} zenoh-bridge-ros2dds
+              cd -
+              echo "LIB_PKG_NAME=${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-ros2dds.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 }}
+            ${{ steps.package.outputs.DEBS_PKG_NAME }}
+
+  docker-build:
+    name: Docker build and push
+    needs: [checks, builds]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 500 # NOTE: get long history for git-version crate to correctly compute a version
+      - name: Fetch Git tags # NOTE: workaround for https://github.com/actions/checkout/issues/290
+        shell: bash
+        run: git fetch --tags --force
+      - name: Download packages from previous job
+        uses: actions/download-artifact@v2
+        with:
+          path: PACKAGES
+      - name: Unzip PACKAGES
+        run: |
+          ls PACKAGES
+          mkdir -p docker/linux/amd
+          unzip PACKAGES/x86_64-unknown-linux-musl/zenoh-bridge-ros2dds-${{ 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-ros2dds-${{ 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: jenoch/zenoh-bridge-ros2dds
+      - 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: ${{ steps.meta.outputs.labels }}
+
+  publication:
+    name: Release publication
+    if: needs.checks.outputs.IS_RELEASE == 'true'
+    needs: [checks, builds]
+    runs-on: ubuntu-latest
+    steps:
+      - name: Download result of previous builds
+        uses: actions/download-artifact@v2
+        with:
+          path: ARTIFACTS
+      - name: Publish as github release
+        uses: softprops/action-gh-release@v1
+        with:
+          files: ARTIFACTS/*/*.*
+      - name: Publish to download.eclipse.org/zenoh
+        env:
+          SSH_TARGET: genie.zenoh@projects-storage.eclipse.org
+          ECLIPSE_BASE_DIR: /home/data/httpd/download.eclipse.org/zenoh/zenoh-plugin-ros2dds
+        shell: bash
+        run: |
+          echo "--- setup ssh-agent"
+          eval "$(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
+        run: rustup show
+      - name: Publish to crates.io
+        shell: bash
+        run: |
+          cargo login ${{ secrets.CRATES_IO_TOKEN }}
+          (cd zenoh-plugin-ros2dds && cargo publish)
diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
new file mode 100644
index 0000000..12ad413
--- /dev/null
+++ b/.github/workflows/rust.yml
@@ -0,0 +1,86 @@
+#
+# 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: Rust
+
+on:
+  push:
+    branches: ["**"]
+  pull_request:
+    branches: ["**"]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    name: Build on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macOS-latest, windows-latest]
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Install ACL
+        if: startsWith(matrix.os,'ubuntu')
+        run: sudo apt-get -y install libacl1-dev
+
+      - name: Install Rust toolchain
+        run: |
+          rustup show
+          rustup component add rustfmt clippy
+
+      - name: Code format check
+        uses: actions-rs/cargo@v1
+        with:
+          command: fmt
+          args: -- --check
+
+      # - name: Clippy
+      #   uses: actions-rs/cargo@v1
+      #   with:
+      #     command: clippy
+      #     args: --all --examples -- -D warnings
+
+      - name: Build zenoh-plugin-ros2dds
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: -p zenoh-plugin-ros2dds --verbose --all-targets
+
+      - name: Build zenoh-plugin-ros2dds (with dds_shm)
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: -p zenoh-plugin-ros2dds --features dds_shm --verbose --all-targets
+
+      - name: Build zenoh-bridge-ros2dds
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: -p zenoh-bridge-ros2dds  --verbose --all-targets
+
+      - name: Build zenoh-bridge-ros2dds (with dds_shm)
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: -p zenoh-bridge-ros2dds --features dds_shm  --verbose --all-targets
+
+      - name: Run tests
+        uses: actions-rs/cargo@v1
+        with:
+          command: test
+          args: --verbose
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ee7721b
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,21 @@
+# Generated by Cargo
+# will have compiled files and executables
+**/target
+
+# Ignore all Cargo.lock but one at top-level, since it's committed in git.
+*/**/Cargo.lock
+
+# These are backup files generated by rustfmt
+**/*.rs.bk
+
+# CLion project directory
+.idea
+
+# Emacs temps
+*~
+
+# MacOS Related
+.DS_Store
+
+.vscode
+
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..419b639
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,63 @@
+#
+# 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>
+#
+
+# ROS2 package build file (waiting for an "ament_rust" built type)
+cmake_minimum_required(VERSION 3.8)
+project(zenoh_bridge_ros2dds)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+set(RUST_TARGET_DIR ${CMAKE_BINARY_DIR}/target)
+
+FILE(GLOB RUST_SRC_FILES
+  ${CMAKE_SOURCE_DIR}/zenoh-bridge-ros2dds/src/*.rs
+  ${CMAKE_SOURCE_DIR}/zenoh-plugin-ros2dds/src/*.rs
+  ${CMAKE_SOURCE_DIR}/Cargo.lock)
+
+add_custom_command(
+  OUTPUT
+  ${RUST_TARGET_DIR}/release/zenoh-bridge-ros2dds
+  COMMAND cargo build --release --manifest-path "${CMAKE_SOURCE_DIR}/zenoh-bridge-ros2dds/Cargo.toml" --target-dir "${RUST_TARGET_DIR}"
+  DEPENDS
+  ${RUST_SRC_FILES}
+)
+
+add_custom_target(
+  build_crate ALL
+  DEPENDS
+  ${RUST_TARGET_DIR}/release/zenoh-bridge-ros2dds
+)
+
+macro(INSTALL_ZENOH src_path dst_path)
+  install(FILES
+    ${src_path}
+    RENAME zenoh_bridge_ros2dds
+    PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
+    DESTINATION ${dst_path}
+  )
+endmacro(INSTALL_ZENOH)
+
+INSTALL_ZENOH(${RUST_TARGET_DIR}/release/zenoh-bridge-ros2dds lib/${PROJECT_NAME})
+
+INSTALL_ZENOH(${RUST_TARGET_DIR}/release/zenoh-bridge-ros2dds bin)
+
+ament_package()
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..cec4c45
--- /dev/null
+++ b/CONTRIBUTORS.md
@@ -0,0 +1,8 @@
+# Contributors to Eclipse zenoh-plugin-ros2dds
+
+These are the contributors to Eclipse zenoh (the initial contributors and the contributors listed in the Git log).
+
+
+| GitHub username | Name                         |
+| --------------- | -----------------------------|
+| JEnoch          | Julien Enoch                 |
\ No newline at end of file
diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..fc01375
--- /dev/null
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+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-std",
+ "lazy_static",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-crypto"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "aes 0.8.3",
+ "hmac 0.12.1",
+ "rand 0.8.5",
+ "rand_chacha 0.3.1",
+ "sha3",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-ext"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-std",
+ "bincode",
+ "env_logger",
+ "flume",
+ "futures",
+ "log",
+ "serde",
+ "zenoh",
+ "zenoh-core",
+ "zenoh-macros",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-keyexpr"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "hashbrown 0.14.0",
+ "keyed-set",
+ "rand 0.8.5",
+ "schemars",
+ "serde",
+ "token-cell",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-link"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "zenoh-config",
+ "zenoh-link-commons",
+ "zenoh-link-quic",
+ "zenoh-link-tcp",
+ "zenoh-link-tls",
+ "zenoh-link-udp",
+ "zenoh-link-unixsock_stream",
+ "zenoh-link-ws",
+ "zenoh-protocol",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-link-commons"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "flume",
+ "serde",
+ "typenum",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-protocol",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-link-quic"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-rustls",
+ "async-std",
+ "async-trait",
+ "futures",
+ "log",
+ "quinn",
+ "rustls",
+ "rustls-native-certs",
+ "rustls-pemfile",
+ "rustls-webpki",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-link-tcp"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "log",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-link-tls"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-rustls",
+ "async-std",
+ "async-trait",
+ "futures",
+ "log",
+ "rustls",
+ "rustls-pemfile",
+ "rustls-webpki",
+ "webpki-roots",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-link-udp"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "log",
+ "socket2 0.5.4",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-link-unixsock_stream"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "futures",
+ "log",
+ "nix",
+ "uuid",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+]
+
+[[package]]
+name = "zenoh-link-ws"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "futures-util",
+ "log",
+ "tokio",
+ "tokio-tungstenite",
+ "url",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-macros"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "rustc_version 0.4.0",
+ "syn 2.0.33",
+ "unzip-n",
+ "zenoh-keyexpr",
+]
+
+[[package]]
+name = "zenoh-plugin-rest"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "anyhow",
+ "async-std",
+ "base64 0.21.4",
+ "clap 3.2.25",
+ "env_logger",
+ "flume",
+ "futures",
+ "git-version",
+ "http-types",
+ "jsonschema",
+ "lazy_static",
+ "log",
+ "rustc_version 0.4.0",
+ "schemars",
+ "serde",
+ "serde_json",
+ "tide",
+ "zenoh",
+ "zenoh-plugin-trait",
+ "zenoh-result",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-plugin-ros2dds"
+version = "0.1.0-dev"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "bincode",
+ "cdr",
+ "cyclors",
+ "derivative",
+ "env_logger",
+ "flume",
+ "futures",
+ "git-version",
+ "hex",
+ "lazy_static",
+ "log",
+ "regex",
+ "rustc_version 0.4.0",
+ "serde",
+ "serde_json",
+ "zenoh",
+ "zenoh-collections",
+ "zenoh-core",
+ "zenoh-ext",
+ "zenoh-plugin-trait",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-plugin-trait"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "libloading 0.8.0",
+ "log",
+ "serde_json",
+ "zenoh-macros",
+ "zenoh-result",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-protocol"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "const_format",
+ "hex",
+ "rand 0.8.5",
+ "serde",
+ "uhlc",
+ "uuid",
+ "zenoh-buffers",
+ "zenoh-keyexpr",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-result"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "anyhow",
+]
+
+[[package]]
+name = "zenoh-sync"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-std",
+ "event-listener",
+ "flume",
+ "futures",
+ "tokio",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+]
+
+[[package]]
+name = "zenoh-transport"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-executor",
+ "async-global-executor",
+ "async-std",
+ "async-trait",
+ "flume",
+ "log",
+ "lz4_flex",
+ "paste",
+ "rand 0.8.5",
+ "ringbuffer-spsc",
+ "rsa",
+ "serde",
+ "sha3",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-collections",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-crypto",
+ "zenoh-link",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-util"
+version = "0.10.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh?branch=master#c2bc9bd9b89b94539c6bbe12f3e1750deeda37c5"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "clap 3.2.25",
+ "flume",
+ "futures",
+ "hex",
+ "home",
+ "humantime",
+ "lazy_static",
+ "libc",
+ "libloading 0.8.0",
+ "log",
+ "pnet",
+ "pnet_datalink",
+ "shellexpand",
+ "winapi",
+ "zenoh-core",
+ "zenoh-protocol",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zeroize"
+version = "1.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2a0956f1ba7c7909bfb66c2e9e4124ab6f6482560f6628b5aaeba39207c9aad9"
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..de89b2e
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,64 @@
+#
+# 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>
+#
+[workspace]
+resolver = "2"
+members = [
+  "zenoh-bridge-ros2dds",
+  "zenoh-plugin-ros2dds",
+]
+
+[workspace.package]
+version = "0.1.0-dev"
+authors = [
+    "Julien Enoch <julien@enoch.fr>",
+]
+edition = "2021"
+repository = "https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds"
+homepage = "http://zenoh.io"
+license = "EPL-2.0 OR Apache-2.0"
+
+[workspace.dependencies]
+async-liveliness-monitor = "0.1.1"
+async-std = "=1.12.0"
+async-trait = "0.1.66"
+bincode = "1.3.3"
+cdr = "0.2.4"
+clap = "3.2.23"
+cyclors = { git = "https://github.com/kydos/cyclors", branch = "master" }
+derivative = "2.2.0"
+env_logger = "0.10.0"
+flume = "0.11.0"
+futures = "0.3.26"
+git-version = "0.3.5"
+hex = "0.4.3"
+lazy_static = "1.4.0"
+log = "0.4.17"
+regex = "1.7.1"
+rustc_version = "0.4"
+serde = "1.0.154"
+serde_json = "1.0.94"
+zenoh = { git = "https://github.com/eclipse-zenoh/zenoh", branch = "master", features = ["unstable"] }
+zenoh-collections = { git = "https://github.com/eclipse-zenoh/zenoh", branch = "master" }
+zenoh-core = { git = "https://github.com/eclipse-zenoh/zenoh", branch = "master" }
+zenoh-ext = { git = "https://github.com/eclipse-zenoh/zenoh", branch = "master", features = ["unstable"] }
+zenoh-plugin-rest = { git = "https://github.com/eclipse-zenoh/zenoh", branch = "master", default-features = false }
+zenoh-plugin-trait = { git = "https://github.com/eclipse-zenoh/zenoh", branch = "master", default-features = false }
+zenoh-util = { git = "https://github.com/eclipse-zenoh/zenoh", branch = "master", default-features = false }
+
+[profile.release]
+debug = false
+lto = "fat"
+codegen-units = 1
+opt-level = 3
+panic = "abort"
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/DEFAULT_CONFIG.json5 b/DEFAULT_CONFIG.json5
new file mode 100644
index 0000000..3f6a754
--- /dev/null
+++ b/DEFAULT_CONFIG.json5
@@ -0,0 +1,147 @@
+////
+//// This file presents the default configuration used by both the `zenoh-plugin-ros2dds` plugin and the `zenoh-bridge-ros2dds` standalone executable.
+//// The "ros2" JSON5 object below can be used as such in the "plugins" part of a config file for the zenoh router (zenohd).
+////
+{
+  plugins: {
+    ////
+    //// ROS2 related configuration
+    //// All settings are optional and are unset by default - uncomment the ones you want to set
+    ////
+    ros2: {
+      ////
+      //// id: An identifier for this bridge, which must be unique in the system.
+      ///      The bridge will use this identifier in it's administration space: `@ros2/<id>/**`.
+      ///      This identifier will also appears in the logs of all other bridges on discovery events.
+      ///      By default a random UUID
+      ////
+      // id: "robot-1",
+
+      ////
+      //// namespace: A ROS namespace to be used by this bridge.
+      ////            Default: "/"
+      ////
+      // namespace: "/",
+
+      ////
+      //// nodename: A ROS node name to be used by this bridge.
+      ////            Default: "zenoh_bridge_ros2dds"
+      ////
+      // namespace: "zenoh_bridge_ros2dds",
+
+      ////
+      //// domain: The DDS Domain ID. By default set to 0, or to "$ROS_DOMAIN_ID" is this environment variable is defined.
+      ////
+      // domain: 0,
+
+      ////
+      //// localhost_only: If set to true, the DDS discovery and traffic will occur only on the localhost interface (127.0.0.1).
+      ////                 By default set to false, unless the "ROS_LOCALHOST_ONLY=1" environment variable is defined.
+      ////
+      // localhost_only: true,
+
+      ////
+      //// shm_enabled: If set to true, the DDS implementation will use Iceoryx shared memory.
+      ////              Requires the bridge to be built with the 'dds_shm' feature for this option to valid.
+      ////              By default set to false.
+      ////
+      // shm_enabled: false,
+
+      ////
+      //// allow: Sets of 1 or more regular expression per ROS interface kind matching the interface names that must be routed via zenoh.
+      ////        By default, all interfaces are allowed.
+      ////        If both 'allow' and 'deny' are set an interface will be allowed if it matches only the expression in 'allow' set.
+      ////
+      // allow: {
+      //   publishers: [".*/laser_scan", "/tf", ".*/pose"],
+      //   subscribers: [".*/cmd_vel"],
+      //   service_servers: [".*/.*_parameters"],
+      //   service_clients: [],
+      //   action_servers: [".*/rotate_absolute"],
+      //   action_clients: [],
+      // },
+
+      ////
+      //// deny: Sets of 1 or more regular expression per ROS interface kind matching the interface names that must NOT be routed via zenoh.
+      ////       By default, no interface are denied.
+      ////       If both 'allow' and 'deny' are set an interface will be allowed if it matches only the expression in 'allow' set.
+      ////
+      // deny: {
+      //   publishers: ["/rosout", "/parameter_events"],
+      //   subscribers: ["/rosout"],
+      //   service_servers: [".*/set_parameters"],
+      //   service_clients: [".*/set_parameters"],
+      //   action_servers: [],
+      //   action_clients: [],
+      // },
+
+      ////
+      //// pub_max_frequencies: Specifies a list of maximum frequency of messages routing over zenoh for a set of topics.
+      ////                      The strings must have the format "<regex>=<float>":
+      ////                      - "regex" is a regular expression matching a Publisher interface name
+      ////                      - "float" is the maximum frequency in Hertz;
+      ////                        if publication rate is higher, downsampling will occur when routing.
+      // pub_max_frequencies: [".*/laser_scan=5", "/tf=10"],
+
+
+      ////
+      //// reliable_routes_blocking: When true, the publications from a RELIABLE DDS Writer will be
+      ////                           routed to zenoh using the CongestionControl::Block option.
+      ////                           Meaning the routing will be blocked in case of network congestion,
+      ////                           blocking the DDS Reader and the RELIABLE DDS Writer in return.
+      ////                           When false (or for BERST_EFFORT DDS Writers), CongestionControl::Drop
+      ////                           is used, meaning the route might drop some data in case of congestion.
+      ////
+      // reliable_routes_blocking: true,
+
+      ////
+      //// queries_timeout: A duration in seconds (default: 5.0 sec) that will be used as a timeout when the bridge
+      ////                  queries any other remote bridge for discovery information and for historical data for TRANSIENT_LOCAL DDS Readers it serves
+      ////                  (i.e. if the query to the remote bridge exceed the timeout, some historical samples might be not routed to the Readers,
+      ////                  but the route will not be blocked forever).
+      ////
+      // queries_timeout: 5.0,
+    },
+
+    ////
+    //// REST API configuration (active only if this part is defined)
+    ////
+    // rest: {
+    //   ////
+    //   //// The HTTP port number (for all network interfaces).
+    //   //// You can bind on a specific interface setting a "<local_ip>:<port>" string.
+    //   ////
+    //   http_port: 8000,
+    // },
+  },
+
+  ////
+  //// zenoh related configuration (see zenoh documentation for more details)
+  ////
+
+  ////
+  //// mode: The bridge's mode (peer or client)
+  ////
+  //mode: "client",
+
+  ////
+  //// Which endpoints to connect to. E.g. tcp/localhost:7447.
+  //// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
+  ////
+  connect: {
+    endpoints: [
+      // "<proto>/<ip>:<port>"
+    ]
+  },
+
+  ////
+  //// Which endpoints to listen on. E.g. tcp/localhost:7447.
+  //// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
+  //// peers, or client can use to establish a zenoh session.
+  ////
+  listen: {
+    endpoints: [
+      // "<proto>/<ip>:<port>"
+    ]
+  },
+}
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..8c3fbf6
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,459 @@
+apache-2.0
+epl-2.0
+
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
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+3. REQUIREMENTS
+
+3.1 If a Contributor Distributes the Program in any form, then:
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+  b) the Contributor may Distribute the Program under a license
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+     iv) requires any subsequent distribution of the Program by any
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+3.2 When the Program is Distributed as Source Code:
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+  a) it must be made available under this Agreement, or if the
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+4. COMMERCIAL DISTRIBUTION
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+Program itself (excluding combinations of the Program with other software
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+Except as expressly stated in Sections 2(a) and 2(b) above, Recipient
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+Exhibit A - Form of Secondary Licenses Notice
+
+"This Source Code may also be made available under the following 
+Secondary Licenses when the conditions for such availability set forth 
+in the Eclipse Public License, v. 2.0 are satisfied: {name license(s),
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+
+  Simply including a copy of this Agreement, including this Exhibit A
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+
+  If it is not possible or desirable to put the notice in a particular
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+  file in a relevant directory) where a recipient would be likely to
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+  You may add additional accurate notices of copyright ownership.
+
diff --git a/NOTICE.md b/NOTICE.md
new file mode 100644
index 0000000..01c0f1e
--- /dev/null
+++ b/NOTICE.md
@@ -0,0 +1,41 @@
+# Notices for Eclipse zenoh-plugin-ros2dds
+
+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-ros2dds.git
+
+## Third-party Content
+
+ *To be completed...*
+
diff --git a/README.md b/README.md
index 1d69ed0..a879d17 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,5 @@
-# zenoh-plugin-ros2dds
-A Zenoh plug-in for ROS2 with a DDS RMW.
+# zplugin-ros2dds
+
+A new Zenoh bridge for ROS 2 with a DDS RMW.
+
+:warning: Work in progress...
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..f3e6e6d
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<!--
+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>
+-->
+
+<!-- ROS2 package declaration -->
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>zenoh_bridge_ros2dds</name>
+  <version>0.5.0</version>
+  <description>
+    Bridge between ROS2/DDS and Eclipse zenoh (https://zenoh.io). It allows the integration of zenoh applications with ROS2,
+    or the tunneling of ROS2 communications between nodes via the zenoh protocol at Internet scale.
+  </description>
+  <url>https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds</url>
+  <maintainer email="zenoh@zettascale.tech">ZettaScale Zenoh team</maintainer>
+  <license>EPL-2.0</license>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>cargo</build_depend>
+  <build_depend>clang</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/rust-toolchain.toml b/rust-toolchain.toml
new file mode 100644
index 0000000..743f7cd
--- /dev/null
+++ b/rust-toolchain.toml
@@ -0,0 +1,2 @@
+[toolchain]
+channel = "1.72.0"
diff --git a/zenoh-bridge-ros2dds/.deb/postinst b/zenoh-bridge-ros2dds/.deb/postinst
new file mode 100644
index 0000000..51a2be4
--- /dev/null
+++ b/zenoh-bridge-ros2dds/.deb/postinst
@@ -0,0 +1,42 @@
+#!/bin/sh
+# postinst script for Eclipse Zenoh bridge for DDS
+#
+# see: dh_installdeb(1)
+
+set -e
+
+# summary of how this script can be called:
+#        * <postinst> `configure' <most-recently-configured-version>
+#        * <old-postinst> `abort-upgrade' <new version>
+#        * <conflictor's-postinst> `abort-remove' `in-favour' <package>
+#          <new-version>
+#        * <postinst> `abort-remove'
+#        * <deconfigured's-postinst> `abort-deconfigure' `in-favour'
+#          <failed-install-package> <version> `removing'
+#          <conflicting-package> <version>
+# for details, see https://www.debian.org/doc/debian-policy/ or
+# the debian-policy package
+
+
+case "$1" in
+    configure)
+        id -u zenoh-bridge-ros2dds  >/dev/null 2>&1 ||  sudo useradd -r -s /bin/false zenoh-bridge-ros2dds
+        systemctl daemon-reload
+        systemctl disable zenoh-bridge-ros2dds
+    ;;
+
+    abort-upgrade|abort-remove|abort-deconfigure)
+    ;;
+
+    *)
+        echo "postinst called with unknown argument \`$1'" >&2
+        exit 1
+    ;;
+esac
+
+# dh_installdeb will replace this with shell code automatically
+# generated by other debhelper scripts.
+
+#DEBHELPER#
+
+exit 0
diff --git a/zenoh-bridge-ros2dds/.deb/postrm b/zenoh-bridge-ros2dds/.deb/postrm
new file mode 100644
index 0000000..fcb339b
--- /dev/null
+++ b/zenoh-bridge-ros2dds/.deb/postrm
@@ -0,0 +1,39 @@
+#!/bin/sh
+# postrm script for Eclipse Zenoh bridge for DDS
+# see: dh_installdeb(1)
+
+set -e
+
+# summary of how this script can be called:
+#        * <postrm> `remove'
+#        * <postrm> `purge'
+#        * <old-postrm> `upgrade' <new-version>
+#        * <new-postrm> `failed-upgrade' <old-version>
+#        * <new-postrm> `abort-install'
+#        * <new-postrm> `abort-install' <old-version>
+#        * <new-postrm> `abort-upgrade' <old-version>
+#        * <disappearer's-postrm> `disappear' <overwriter>
+#          <overwriter-version>
+# for details, see https://www.debian.org/doc/debian-policy/ or
+# the debian-policy package
+
+
+case "$1" in
+    purge|remove|upgrade|failed-upgrade|abort-install|abort-upgrade|disappear)
+    userdel zenoh-bridge-ros2dds
+    rm -rf /etc/zenoh-bridge-ros2dds
+    ;;
+
+    *)
+        echo "postrm called with unknown argument \`$1'" >&2
+        exit 1
+    ;;
+esac
+
+# dh_installdeb will replace this with shell code automatically
+# generated by other debhelper scripts.
+
+#DEBHELPER#
+
+exit 0
+
diff --git a/zenoh-bridge-ros2dds/.service/zenoh-bridge-ros2.service b/zenoh-bridge-ros2dds/.service/zenoh-bridge-ros2.service
new file mode 100644
index 0000000..ae2895a
--- /dev/null
+++ b/zenoh-bridge-ros2dds/.service/zenoh-bridge-ros2.service
@@ -0,0 +1,23 @@
+[Unit]
+Description = Eclipse Zenoh Bridge for DDS
+Documentation=https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds
+After=network-online.target
+Wants=network-online.target
+
+
+[Service]
+Type=simple
+Environment=RUST_LOG=info
+ExecStart = /usr/bin/zenoh-bridge-ros2dds -c /etc/zenoh-bridge-ros2dds/conf.json5
+KillMode=mixed
+KillSignal=SIGINT
+RestartKillSignal=SIGINT
+Restart=on-failure
+PermissionsStartOnly=true
+User=zenoh-bridge-ros2dds
+StandardOutput=syslog
+StandardError=syslog
+SyslogIdentifier=zenoh-bridge-ros2dds
+[Install]
+WantedBy=multi-user.target
+
diff --git a/zenoh-bridge-ros2dds/Cargo.toml b/zenoh-bridge-ros2dds/Cargo.toml
new file mode 100644
index 0000000..15b0eee
--- /dev/null
+++ b/zenoh-bridge-ros2dds/Cargo.toml
@@ -0,0 +1,72 @@
+#
+# 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>
+#
+[package]
+name = "zenoh-bridge-ros2dds"
+version = { workspace = true }
+authors = { workspace = true }
+edition = { workspace = true }
+repository = { workspace = true }
+homepage = { workspace = true }
+license = { workspace = true }
+categories = ["network-programming"]
+description = "Zenoh bridge for ROS 2 and DDS in general"
+
+[features]
+dds_shm = ["zenoh-plugin-ros2dds/dds_shm"]
+
+[dependencies]
+async-std = { workspace = true, features = ["unstable", "attributes"] }
+async-liveliness-monitor = { workspace = true }
+clap = { workspace = true }
+env_logger = { workspace = true }
+lazy_static = { workspace = true }
+log = { workspace = true }
+serde_json = { workspace = true }
+zenoh  = { workspace = true }
+zenoh-plugin-rest = { workspace = true }
+zenoh-plugin-trait = { workspace = true }
+zenoh-plugin-ros2dds = { path = "../zenoh-plugin-ros2dds/", default-features = false }
+
+[[bin]]
+name = "zenoh-bridge-ros2dds"
+path = "src/main.rs"
+
+[package.metadata.deb]
+name = "zenoh-bridge-ros2dds"
+maintainer = "zenoh-dev@eclipse.org"
+copyright = "2017, 2022 ZettaScale Technology Inc."
+section = "net"
+license-file = ["../LICENSE", "0"]
+depends = "$auto"
+maintainer-scripts = ".deb"
+assets = [
+    # binary
+    [
+        "target/release/zenoh-bridge-ros2dds",
+        "/usr/bin/",
+        "755",
+    ],
+    # config file
+    [
+        "../DEFAULT_CONFIG.json5",
+        "/etc/zenoh-bridge-ros2dds/conf.json5",
+        "644",
+    ],
+    # service
+    [
+        ".service/zenoh-bridge-ros2dds.service",
+        "/lib/systemd/system/zenoh-bridge-ros2dds.service",
+        "644",
+    ],
+]
diff --git a/zenoh-bridge-ros2dds/src/main.rs b/zenoh-bridge-ros2dds/src/main.rs
new file mode 100644
index 0000000..56c913b
--- /dev/null
+++ b/zenoh-bridge-ros2dds/src/main.rs
@@ -0,0 +1,294 @@
+use async_liveliness_monitor::LivelinessMonitor;
+//
+// 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>
+//
+use clap::{App, Arg};
+use std::time::{Duration, SystemTime};
+use zenoh::config::{Config, ModeDependentValue};
+use zenoh::prelude::*;
+
+lazy_static::lazy_static!(
+    pub static ref DEFAULT_DOMAIN_STR: String = zenoh_plugin_ros2dds::config::DEFAULT_DOMAIN.to_string();
+);
+
+macro_rules! insert_json5 {
+    ($config: expr, $args: expr, $key: expr, if $name: expr) => {
+        if $args.occurrences_of($name) > 0 {
+            $config.insert_json5($key, "true").unwrap();
+        }
+    };
+    ($config: expr, $args: expr, $key: expr, if $name: expr, $($t: tt)*) => {
+        if $args.occurrences_of($name) > 0 {
+            $config.insert_json5($key, &serde_json::to_string(&$args.value_of($name).unwrap()$($t)*).unwrap()).unwrap();
+        }
+    };
+    ($config: expr, $args: expr, $key: expr, for $name: expr, $($t: tt)*) => {
+        if let Some(value) = $args.values_of($name) {
+            $config.insert_json5($key, &serde_json::to_string(&value$($t)*).unwrap()).unwrap();
+        }
+    };
+}
+
+fn parse_args() -> (Config, Option<f32>) {
+    let mut app = App::new("zenoh bridge for DDS")
+        .version(zenoh_plugin_ros2dds::GIT_VERSION)
+        .long_version(zenoh_plugin_ros2dds::LONG_VERSION.as_str())
+        //
+        // zenoh related arguments:
+        //
+        .arg(Arg::from_usage(
+r#"-i, --id=[HEX_STRING] \
+'The identifier (as an hexadecimal string, with odd number of chars - e.g.: 0A0B23...) that zenohd must use.
+WARNING: this identifier must be unique in the system and must be 16 bytes maximum (32 chars)!
+If not set, a random UUIDv4 will be used.'"#,
+            ))
+        .arg(Arg::from_usage(
+r#"-m, --mode=[MODE]  'The zenoh session mode.'"#)
+            .possible_values(["peer", "client"])
+            .default_value("peer")
+        )
+        .arg(Arg::from_usage(
+r#"-c, --config=[FILE] \
+'The configuration file. Currently, this file must be a valid JSON5 file.'"#,
+            ))
+        .arg(Arg::from_usage(
+r#"-l, --listen=[ENDPOINT]... \
+'A locator on which this router will listen for incoming sessions.
+Repeat this option to open several listeners.'"#,
+                ),
+            )
+        .arg(Arg::from_usage(
+r#"-e, --connect=[ENDPOINT]... \
+'A peer locator this router will try to connect to.
+Repeat this option to connect to several peers.'"#,
+            ))
+        .arg(Arg::from_usage(
+r#"--no-multicast-scouting \
+'By default the zenoh bridge listens and replies to UDP multicast scouting messages for being discovered by peers and routers.
+This option disables this feature.'"#
+        ))
+        .arg(Arg::from_usage(
+r#"--rest-http-port=[PORT | IP:PORT] \
+'Configures HTTP interface for the REST API (disabled by default, setting this option enables it). Accepted values:'
+  - a port number
+  - a string with format `<local_ip>:<port_number>` (to bind the HTTP server to a specific interface)."#
+        ))
+        //
+        // DDS related arguments:
+        //
+        .arg(Arg::from_usage(
+r#"-n, --namespace=[String]   'A ROS 2 namespace to be used by the "zenoh_bridge_dds" node'"#
+        ))
+        .arg(Arg::from_usage(
+r#"-d, --domain=[ID]   'The DDS Domain ID. The default value is "$ROS_DOMAIN_ID" if defined, or "0" otherwise.'"#)
+            .default_value(&DEFAULT_DOMAIN_STR)
+        )
+        .arg(Arg::from_usage(
+r#"--ros-localhost-only \
+'Configure CycloneDDS to use only the localhost interface. If not set, CycloneDDS will pick the interface defined in "$CYCLONEDDS_URI" configuration, or automatically choose one.
+This option is not active by default, unless the "ROS_LOCALHOST_ONLY" environment variable is set to "1".'"#
+        ));
+
+    // Add option to enable DDS SHM if feature is enabled
+    #[cfg(feature = "dds_shm")]
+    {
+        app = app.arg(Arg::from_usage(
+                r#"--dds-enable-shm \
+                'Configure CycloneDDS to use Iceoryx shared memory. If not set, CycloneDDS will instead use any shared memory settings defined in "$CYCLONEDDS_URI" configuration.
+                This option is not active by default.'"#
+            ));
+    }
+
+    app = app
+        .arg(Arg::from_usage(
+r#"-a, --allow=[String]...   'A regular expression matching the set of 'partition/topic-name' that must be routed via zenoh. By default, all partitions and topics are allowed.
+If both '--allow' and '--deny' are set a partition and/or topic will be allowed if it matches only the 'allow' expression.
+Repeat this option to configure several topic expressions. These expressions are concatenated with '|'.
+Examples of expressions: '.*/TopicA', 'Partition-?/.*', 'cmd_vel|rosout'...'"#
+        ))
+        .arg(Arg::from_usage(
+r#"--deny=[String]...   'A regular expression matching the set of 'partition/topic-name' that must not be routed via zenoh. By default, no partitions and no topics are denied.
+If both '--allow' and '--deny' are set a partition and/or topic will be allowed if it matches only the 'allow' expression.
+Repeat this option to configure several topic expressions. These expressions are concatenated with '|'.
+Examples of expressions: '.*/TopicA', 'Partition-?/.*', 'cmd_vel|rosout'...'"#
+        ))
+        .arg(Arg::from_usage(
+r#"--max-frequency=[String]...   'Specifies a maximum frequency of data routing over zenoh for a set of topics. The string must have the format "<regex>=<float>":
+  - "regex" is a regular expression matching the set of 'partition/topic-name' (same syntax than --allow option)
+    for which the data (per DDS instance) must be routed at no higher rate than the specified max frequency.
+  - "float" is the maximum frequency in Hertz; if publication rate is higher, downsampling will occur when routing.
+Repeat this option to configure several topics expressions with a max frequency.'"#
+        ))
+        .arg(Arg::from_usage(
+r#"-r, --generalise-sub=[String]...   'A list of key expression to use for generalising subscriptions (usable multiple times).'"#
+        ))
+        .arg(Arg::from_usage(
+r#"-w, --generalise-pub=[String]...   'A list of key expression to use for generalising publications (usable multiple times).'"#
+        ))
+        .arg(Arg::from_usage(
+r#"-f, --fwd-discovery   'When set, rather than creating a local route when discovering a local DDS entity, this discovery info is forwarded to the remote plugins/bridges. Those will create the routes, including a replica of the discovered entity.'"#
+            ).alias("forward-discovery")
+        )
+        .arg(Arg::from_usage(
+r#"--queries-timeout=[float]... 'A float in seconds (default: 5.0 sec) that will be used as a timeout when the bridge
+queries any other remote bridge for discovery information and for historical data for TRANSIENT_LOCAL DDS Readers it serves
+(i.e. if the query to the remote bridge exceed the timeout, some historical samples might be not routed to the Readers, but the route will not be blocked forever)."#
+        ))
+        .arg(Arg::from_usage(
+r#"--watchdog=[PERIOD]   'Experimental!! Run a watchdog thread that monitors the bridge's async executor and reports as error log any stalled status during the specified period (default: 1.0 second)'"#
+        ).default_missing_value("1.0"));
+    let args = app.get_matches();
+
+    // load config file at first
+    let mut config = match args.value_of("config") {
+        Some(conf_file) => Config::from_file(conf_file).unwrap(),
+        None => Config::default(),
+    };
+    // if "ros2" plugin conf is not present, add it (empty to use default config)
+    if config.plugin("ros2").is_none() {
+        config.insert_json5("plugins/ros2", "{}").unwrap();
+    }
+
+    // apply zenoh related arguments over config
+    // NOTE: only if args.occurrences_of()>0 to avoid overriding config with the default arg value
+    if args.occurrences_of("mode") > 0 {
+        config
+            .set_mode(Some(args.value_of("mode").unwrap().parse().unwrap()))
+            .unwrap();
+    }
+    if let Some(endpoints) = args.values_of("connect") {
+        config
+            .connect
+            .endpoints
+            .extend(endpoints.map(|p| p.parse().unwrap()))
+    }
+    if let Some(endpoints) = args.values_of("listen") {
+        config
+            .listen
+            .endpoints
+            .extend(endpoints.map(|p| p.parse().unwrap()))
+    }
+    if args.is_present("no-multicast-scouting") {
+        config.scouting.multicast.set_enabled(Some(false)).unwrap();
+    }
+    if let Some(port) = args.value_of("rest-http-port") {
+        config
+            .insert_json5("plugins/rest/http_port", &format!(r#""{port}""#))
+            .unwrap();
+    }
+    // Always add timestamps to publications (required for PublicationCache used in case of TRANSIENT_LOCAL topics)
+    config
+        .timestamping
+        .set_enabled(Some(ModeDependentValue::Unique(true)))
+        .unwrap();
+
+    // apply DDS related arguments over config
+    insert_json5!(config, args, "plugins/ros2/id", if "id",);
+    insert_json5!(config, args, "plugins/ros2/namespace", if "namespace",);
+    insert_json5!(config, args, "plugins/ros2/domain", if "domain", .parse::<u64>().unwrap());
+    insert_json5!(config, args, "plugins/ros2/ros_localhost_only", if "ros-localhost-only");
+    #[cfg(feature = "dds_shm")]
+    {
+        insert_json5!(config, args, "plugins/ros2/shm_enabled", if "dds-enable-shm");
+    }
+    insert_json5!(config, args, "plugins/ros2/allow", for "allow", .collect::<Vec<_>>());
+    insert_json5!(config, args, "plugins/ros2/deny", for "deny", .collect::<Vec::<_>>());
+    insert_json5!(config, args, "plugins/ros2/max_frequencies", for "max-frequency", .collect::<Vec<_>>());
+    insert_json5!(config, args, "plugins/ros2/generalise_pubs", for "generalise-pub", .collect::<Vec<_>>());
+    insert_json5!(config, args, "plugins/ros2/generalise_subs", for "generalise-sub", .collect::<Vec<_>>());
+    insert_json5!(config, args, "plugins/ros2/queries_timeout", if "queries-timeout", .parse::<f64>().unwrap());
+
+    let watchdog_period = if args.is_present("watchdog") {
+        args.value_of("watchdog").map(|s| s.parse::<f32>().unwrap())
+    } else {
+        None
+    };
+
+    (config, watchdog_period)
+}
+
+#[async_std::main]
+async fn main() {
+    env_logger::Builder::from_env(env_logger::Env::default().default_filter_or("z=info")).init();
+    log::info!("zenoh-bridge-ros2dds {}", *zenoh_plugin_ros2dds::LONG_VERSION);
+
+    let (config, watchdog_period) = parse_args();
+    let rest_plugin = config.plugin("rest").is_some();
+
+    if let Some(period) = watchdog_period {
+        run_watchdog(period);
+    }
+
+    // create a zenoh Runtime (to share with plugins)
+    let runtime = zenoh::runtime::Runtime::new(config).await.unwrap();
+
+    // start REST plugin
+    if rest_plugin {
+        use zenoh_plugin_trait::Plugin;
+        zenoh_plugin_rest::RestPlugin::start("rest", &runtime).unwrap();
+    }
+
+    // start DDS plugin
+    use zenoh_plugin_trait::Plugin;
+    zenoh_plugin_ros2dds::ROS2Plugin::start("ros2", &runtime).unwrap();
+    async_std::future::pending::<()>().await;
+}
+
+fn run_watchdog(period: f32) {
+    let sleep_time = Duration::from_secs_f32(period);
+    // max delta accepted for watchdog thread sleep period
+    let max_sleep_delta = Duration::from_millis(50);
+    // 1st threshold of duration since last report => debug info if exceeded
+    let report_threshold_1 = Duration::from_millis(10);
+    // 2nd threshold of duration since last report => debug warn if exceeded
+    let report_threshold_2 = Duration::from_millis(100);
+
+    assert!(
+        sleep_time > report_threshold_2,
+        "Watchdog period must be greater than {} seconds",
+        report_threshold_2.as_secs_f32()
+    );
+
+    // Start a Liveliness Monitor thread for async_std Runtime
+    let (_task, monitor) = LivelinessMonitor::start(async_std::task::spawn);
+    std::thread::spawn(move || {
+        log::debug!(
+            "Watchdog started with period {} sec",
+            sleep_time.as_secs_f32()
+        );
+        loop {
+            let before = SystemTime::now();
+            std::thread::sleep(sleep_time);
+            let elapsed = SystemTime::now().duration_since(before).unwrap();
+
+            // Monitor watchdog thread itself
+            if elapsed > sleep_time + max_sleep_delta {
+                log::warn!(
+                    "Watchdog thread slept more than configured: {} seconds",
+                    elapsed.as_secs_f32()
+                );
+            }
+            // check last LivelinessMonitor's report
+            let report = monitor.latest_report();
+            if report.elapsed() > report_threshold_1 {
+                if report.elapsed() > sleep_time {
+                    log::error!("Watchdog detecting async_std is stalled! No task scheduling since {} seconds", report.elapsed().as_secs_f32());
+                } else if report.elapsed() > report_threshold_2 {
+                    log::warn!("Watchdog detecting async_std was not scheduling tasks during the last {} ms", report.elapsed().as_micros());
+                } else {
+                    log::info!("Watchdog detecting async_std was not scheduling tasks during the last {} ms", report.elapsed().as_micros());
+                }
+            }
+        }
+    });
+}
diff --git a/zenoh-plugin-ros2dds/Cargo.toml b/zenoh-plugin-ros2dds/Cargo.toml
new file mode 100644
index 0000000..53de6eb
--- /dev/null
+++ b/zenoh-plugin-ros2dds/Cargo.toml
@@ -0,0 +1,67 @@
+#
+# 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>
+#
+[package]
+name = "zenoh-plugin-ros2dds"
+version = { workspace = true }
+authors = { workspace = true }
+edition = { workspace = true }
+repository = { workspace = true }
+homepage = { workspace = true }
+license = { workspace = true }
+categories = ["network-programming", "science::robotics"]
+description = "Zenoh plugin for ROS 2 and DDS in general"
+
+[lib]
+name = "zenoh_plugin_ros2dds"
+crate-type = ["cdylib", "rlib"]
+
+[features]
+default = ["no_mangle"]
+no_mangle = ["zenoh-plugin-trait/no_mangle"]
+dds_shm = ["cyclors/iceoryx"]
+
+[dependencies]
+async-std = { workspace = true, features = ["unstable", "attributes"] }
+async-trait = { workspace = true }
+bincode = { workspace = true }
+cdr = { workspace = true }
+cyclors = { workspace = true }
+derivative = { workspace = true }
+env_logger = { workspace = true }
+flume = { workspace = true }
+futures = { workspace = true }
+git-version = { workspace = true }
+hex = { workspace = true }
+lazy_static = { workspace = true }
+log = { workspace = true }
+regex = { workspace = true }
+serde = { workspace = true }
+serde_json = { workspace = true }
+zenoh = { workspace = true }
+zenoh-collections = { workspace = true }
+zenoh-core = { workspace = true }
+zenoh-ext = { workspace = true }
+zenoh-plugin-trait = { workspace = true }
+zenoh-util = { workspace = true }
+
+[build-dependencies]
+rustc_version = { workspace = true }
+
+[package.metadata.deb]
+name = "zenoh-plugin-ros2dds"
+maintainer = "zenoh-dev@eclipse.org"
+copyright = "2017, 2022 ZettaScale Technology Inc."
+section = "net"
+license-file = ["../LICENSE", "0"]
+depends = "zenohd (=0.10.0-dev)"
diff --git a/zenoh-plugin-ros2dds/README.md b/zenoh-plugin-ros2dds/README.md
new file mode 100644
index 0000000..88b37c2
--- /dev/null
+++ b/zenoh-plugin-ros2dds/README.md
@@ -0,0 +1,5 @@
+# zplugin-ros2dds
+
+A new Zenoh bridge for ROS2.
+
+:warning: Work in progress...
diff --git a/zenoh-plugin-ros2dds/build.rs b/zenoh-plugin-ros2dds/build.rs
new file mode 100644
index 0000000..8e34100
--- /dev/null
+++ b/zenoh-plugin-ros2dds/build.rs
@@ -0,0 +1,21 @@
+//
+// 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>
+//
+fn main() {
+    // Add rustc version to zenohd
+    let version_meta = rustc_version::version_meta().unwrap();
+    println!(
+        "cargo:rustc-env=RUSTC_VERSION={}",
+        version_meta.short_version_string
+    );
+}
diff --git a/zenoh-plugin-ros2dds/src/config.rs b/zenoh-plugin-ros2dds/src/config.rs
new file mode 100644
index 0000000..bbbf572
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/config.rs
@@ -0,0 +1,347 @@
+//
+// 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>
+//
+use regex::Regex;
+use serde::{de, de::Visitor, Deserialize, Deserializer};
+use std::env;
+use std::fmt;
+use std::time::Duration;
+use zenoh::prelude::*;
+
+pub const DEFAULT_NAMESPACE: &str = "/";
+pub const DEFAULT_NODENAME: &str = "zenoh_bridge_ros2dds";
+pub const DEFAULT_DOMAIN: u32 = 0;
+pub const DEFAULT_RELIABLE_ROUTES_BLOCKING: bool = true;
+pub const DEFAULT_TRANSIENT_LOCAL_CACHE_MULTIPLIER: usize = 10;
+pub const DEFAULT_QUERIES_TIMEOUT: f32 = 5.0;
+pub const DEFAULT_DDS_LOCALHOST_ONLY: bool = false;
+
+#[derive(Deserialize, Debug)]
+#[serde(deny_unknown_fields)]
+pub struct Config {
+    #[serde(default)]
+    pub id: Option<OwnedKeyExpr>,
+    #[serde(default = "default_namespace")]
+    pub namespace: String,
+    #[serde(default = "default_nodename")]
+    pub nodename: OwnedKeyExpr,
+    #[serde(default = "default_domain")]
+    pub domain: u32,
+    #[serde(default = "default_localhost_only")]
+    pub ros_localhost_only: bool,
+    #[serde(default, flatten)]
+    pub allowance: Option<Allowance>,
+    #[serde(default, deserialize_with = "deserialize_max_frequencies")]
+    pub pub_max_frequencies: Vec<(Regex, f32)>,
+    #[serde(default)]
+    #[cfg(feature = "dds_shm")]
+    pub shm_enabled: bool,
+    #[serde(default = "default_transient_local_cache_multiplier")]
+    pub transient_local_cache_multiplier: usize,
+    #[serde(
+        default = "default_queries_timeout",
+        deserialize_with = "deserialize_duration"
+    )]
+    pub queries_timeout: Duration,
+    #[serde(default = "default_reliable_routes_blocking")]
+    pub reliable_routes_blocking: bool,
+    #[serde(default)]
+    __required__: bool,
+    #[serde(default, deserialize_with = "deserialize_paths")]
+    __path__: Vec<String>,
+}
+
+#[derive(Deserialize, Debug)]
+pub enum Allowance {
+    #[serde(rename = "allow")]
+    Allow(ROS2InterfacesRegex),
+    #[serde(rename = "deny")]
+    Deny(ROS2InterfacesRegex),
+}
+
+impl Allowance {
+    pub fn is_publisher_allowed(&self, name: &str) -> bool {
+        use Allowance::*;
+        match self {
+            Allow(r) => r
+                .publishers
+                .as_ref()
+                .map(|re| re.is_match(name))
+                .unwrap_or(false),
+            Deny(r) => r
+                .publishers
+                .as_ref()
+                .map(|re| !re.is_match(name))
+                .unwrap_or(true),
+        }
+    }
+
+    pub fn is_subscriber_allowed(&self, name: &str) -> bool {
+        use Allowance::*;
+        match self {
+            Allow(r) => r
+                .subscribers
+                .as_ref()
+                .map(|re| re.is_match(name))
+                .unwrap_or(false),
+            Deny(r) => r
+                .subscribers
+                .as_ref()
+                .map(|re| !re.is_match(name))
+                .unwrap_or(true),
+        }
+    }
+
+    pub fn is_service_srv_allowed(&self, name: &str) -> bool {
+        use Allowance::*;
+        match self {
+            Allow(r) => r
+                .service_servers
+                .as_ref()
+                .map(|re| re.is_match(name))
+                .unwrap_or(false),
+            Deny(r) => r
+                .service_servers
+                .as_ref()
+                .map(|re| !re.is_match(name))
+                .unwrap_or(true),
+        }
+    }
+
+    pub fn is_service_cli_allowed(&self, name: &str) -> bool {
+        use Allowance::*;
+        match self {
+            Allow(r) => r
+                .service_clients
+                .as_ref()
+                .map(|re| re.is_match(name))
+                .unwrap_or(false),
+            Deny(r) => r
+                .service_clients
+                .as_ref()
+                .map(|re| !re.is_match(name))
+                .unwrap_or(true),
+        }
+    }
+
+    pub fn is_action_srv_allowed(&self, name: &str) -> bool {
+        use Allowance::*;
+        match self {
+            Allow(r) => r
+                .action_servers
+                .as_ref()
+                .map(|re| re.is_match(name))
+                .unwrap_or(false),
+            Deny(r) => r
+                .action_servers
+                .as_ref()
+                .map(|re| !re.is_match(name))
+                .unwrap_or(true),
+        }
+    }
+
+    pub fn is_action_cli_allowed(&self, name: &str) -> bool {
+        use Allowance::*;
+        match self {
+            Allow(r) => r
+                .action_clients
+                .as_ref()
+                .map(|re| re.is_match(name))
+                .unwrap_or(false),
+            Deny(r) => r
+                .action_clients
+                .as_ref()
+                .map(|re| !re.is_match(name))
+                .unwrap_or(true),
+        }
+    }
+}
+
+#[derive(Deserialize, Debug, Default)]
+pub struct ROS2InterfacesRegex {
+    #[serde(
+        default,
+        deserialize_with = "deserialize_regex",
+        skip_serializing_if = "Option::is_none"
+    )]
+    pub publishers: Option<Regex>,
+    #[serde(
+        default,
+        deserialize_with = "deserialize_regex",
+        skip_serializing_if = "Option::is_none"
+    )]
+    pub subscribers: Option<Regex>,
+    #[serde(
+        default,
+        deserialize_with = "deserialize_regex",
+        skip_serializing_if = "Option::is_none"
+    )]
+    pub service_servers: Option<Regex>,
+    #[serde(
+        default,
+        deserialize_with = "deserialize_regex",
+        skip_serializing_if = "Option::is_none"
+    )]
+    pub service_clients: Option<Regex>,
+    #[serde(
+        default,
+        deserialize_with = "deserialize_regex",
+        skip_serializing_if = "Option::is_none"
+    )]
+    pub action_servers: Option<Regex>,
+    #[serde(
+        default,
+        deserialize_with = "deserialize_regex",
+        skip_serializing_if = "Option::is_none"
+    )]
+    pub action_clients: Option<Regex>,
+}
+
+fn default_namespace() -> String {
+    DEFAULT_NAMESPACE.to_string()
+}
+
+fn default_nodename() -> OwnedKeyExpr {
+    unsafe { OwnedKeyExpr::from_string_unchecked(DEFAULT_NODENAME.into()) }
+}
+
+fn default_domain() -> u32 {
+    if let Ok(s) = env::var("ROS_DOMAIN_ID") {
+        s.parse::<u32>().unwrap_or(DEFAULT_DOMAIN)
+    } else {
+        DEFAULT_DOMAIN
+    }
+}
+
+fn deserialize_paths<'de, D>(deserializer: D) -> Result<Vec<String>, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    struct V;
+    impl<'de> serde::de::Visitor<'de> for V {
+        type Value = Vec<String>;
+        fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result {
+            write!(formatter, "a string or vector of strings")
+        }
+        fn visit_str<E>(self, v: &str) -> Result<Self::Value, E>
+        where
+            E: de::Error,
+        {
+            Ok(vec![v.into()])
+        }
+        fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
+        where
+            A: de::SeqAccess<'de>,
+        {
+            let mut v = if let Some(l) = seq.size_hint() {
+                Vec::with_capacity(l)
+            } else {
+                Vec::new()
+            };
+            while let Some(s) = seq.next_element()? {
+                v.push(s);
+            }
+            Ok(v)
+        }
+    }
+    deserializer.deserialize_any(V)
+}
+
+fn default_reliable_routes_blocking() -> bool {
+    DEFAULT_RELIABLE_ROUTES_BLOCKING
+}
+
+fn default_localhost_only() -> bool {
+    env::var("ROS_LOCALHOST_ONLY").as_deref() == Ok("1")
+}
+
+fn default_transient_local_cache_multiplier() -> usize {
+    DEFAULT_TRANSIENT_LOCAL_CACHE_MULTIPLIER
+}
+
+fn default_queries_timeout() -> Duration {
+    Duration::from_secs_f32(DEFAULT_QUERIES_TIMEOUT)
+}
+
+fn deserialize_duration<'de, D>(deserializer: D) -> Result<Duration, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    let seconds: f32 = Deserialize::deserialize(deserializer)?;
+    Ok(Duration::from_secs_f32(seconds))
+}
+
+fn deserialize_regex<'de, D>(deserializer: D) -> Result<Option<Regex>, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    deserializer.deserialize_any(RegexVisitor)
+}
+
+// Serde Visitor for Regex deserialization.
+// It accepts either a String, either a list of Strings (that are concatenated with `|`)
+struct RegexVisitor;
+
+impl<'de> Visitor<'de> for RegexVisitor {
+    type Value = Option<Regex>;
+
+    fn expecting(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
+        formatter.write_str(r#"either a string or a list of strings"#)
+    }
+
+    fn visit_str<E>(self, value: &str) -> Result<Self::Value, E>
+    where
+        E: de::Error,
+    {
+        Regex::new(&format!("^{value}$"))
+            .map(Some)
+            .map_err(|e| de::Error::custom(format!("Invalid regex '{value}': {e}")))
+    }
+
+    fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
+    where
+        A: de::SeqAccess<'de>,
+    {
+        let mut vec: Vec<String> = Vec::new();
+        while let Some(s) = seq.next_element::<String>()? {
+            vec.push(format!("^{s}$"));
+        }
+        let s: String = vec.join("|");
+        Regex::new(&s)
+            .map(Some)
+            .map_err(|e| de::Error::custom(format!("Invalid regex '{s}': {e}")))
+    }
+}
+
+fn deserialize_max_frequencies<'de, D>(deserializer: D) -> Result<Vec<(Regex, f32)>, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    let strs: Vec<String> = Deserialize::deserialize(deserializer)?;
+    let mut result: Vec<(Regex, f32)> = Vec::with_capacity(strs.len());
+    for s in strs {
+        let i = s
+            .find('=')
+            .ok_or_else(|| de::Error::custom(format!("Invalid 'max_frequency': {s}")))?;
+        let regex = Regex::new(&s[0..i]).map_err(|e| {
+            de::Error::custom(format!("Invalid regex for 'max_frequency': '{s}': {e}"))
+        })?;
+        let frequency: f32 = s[i + 1..].parse().map_err(|e| {
+            de::Error::custom(format!(
+                "Invalid float value for 'max_frequency': '{s}': {e}"
+            ))
+        })?;
+        result.push((regex, frequency));
+    }
+    Ok(result)
+}
diff --git a/zenoh-plugin-ros2dds/src/dds_discovery.rs b/zenoh-plugin-ros2dds/src/dds_discovery.rs
new file mode 100644
index 0000000..b37fef8
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/dds_discovery.rs
@@ -0,0 +1,738 @@
+//
+// 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>
+//
+use async_std::task;
+use cyclors::qos::{History, HistoryKind, Qos};
+use cyclors::*;
+use flume::Sender;
+use serde::{Deserialize, Serialize, Serializer};
+use std::ffi::{CStr, CString};
+use std::fmt;
+use std::mem::MaybeUninit;
+use std::os::raw;
+use std::slice;
+use std::sync::Arc;
+use std::time::Duration;
+use zenoh::buffers::ZBuf;
+#[cfg(feature = "dds_shm")]
+use zenoh::buffers::ZSlice;
+use zenoh::prelude::*;
+use zenoh::publication::CongestionControl;
+use zenoh::Session;
+use zenoh_core::SyncResolve;
+
+use crate::gid::Gid;
+
+const MAX_SAMPLES: usize = 32;
+
+#[derive(Debug)]
+pub struct TypeInfo {
+    ptr: *mut dds_typeinfo_t,
+}
+
+impl TypeInfo {
+    pub unsafe fn new(ptr: *const dds_typeinfo_t) -> TypeInfo {
+        let ptr = ddsi_typeinfo_dup(ptr);
+        TypeInfo { ptr }
+    }
+}
+
+impl Drop for TypeInfo {
+    fn drop(&mut self) {
+        unsafe {
+            ddsi_typeinfo_free(self.ptr);
+        }
+    }
+}
+
+unsafe impl Send for TypeInfo {}
+unsafe impl Sync for TypeInfo {}
+
+#[derive(Clone, Debug, Serialize, Deserialize)]
+pub struct DdsEntity {
+    pub key: Gid,
+    pub participant_key: Gid,
+    pub topic_name: String,
+    pub type_name: String,
+    #[serde(skip)]
+    pub type_info: Option<Arc<TypeInfo>>,
+    pub keyless: bool,
+    pub qos: Qos,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct DdsParticipant {
+    pub key: Gid,
+    pub qos: Qos,
+}
+
+#[derive(Debug)]
+pub enum DDSDiscoveryEvent {
+    DiscoveredPublication { entity: DdsEntity },
+    UndiscoveredPublication { key: Gid },
+    DiscoveredSubscription { entity: DdsEntity },
+    UndiscoveredSubscription { key: Gid },
+    DiscoveredParticipant { entity: DdsParticipant },
+    UndiscoveredParticipant { key: Gid },
+}
+
+#[derive(Debug, Clone, Copy)]
+pub enum DiscoveryType {
+    Participant,
+    Publication,
+    Subscription,
+}
+
+impl fmt::Display for DiscoveryType {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        match self {
+            DiscoveryType::Participant => write!(f, "participant"),
+            DiscoveryType::Publication => write!(f, "publication"),
+            DiscoveryType::Subscription => write!(f, "subscription"),
+        }
+    }
+}
+
+#[cfg(feature = "dds_shm")]
+#[derive(Clone, Copy)]
+struct IoxChunk {
+    ptr: *mut std::ffi::c_void,
+    header: *mut iceoryx_header_t,
+}
+
+#[cfg(feature = "dds_shm")]
+impl IoxChunk {
+    fn as_slice(&self) -> &[u8] {
+        unsafe { slice::from_raw_parts(self.ptr as *const u8, (*self.header).data_size as usize) }
+    }
+
+    fn len(&self) -> usize {
+        unsafe { (*self.header).data_size as usize }
+    }
+}
+
+pub struct DDSRawSample {
+    sdref: *mut ddsi_serdata,
+    data: ddsrt_iovec_t,
+    #[cfg(feature = "dds_shm")]
+    iox_chunk: Option<IoxChunk>,
+}
+
+impl DDSRawSample {
+    pub unsafe fn create(serdata: *const ddsi_serdata) -> DDSRawSample {
+        let mut sdref: *mut ddsi_serdata = std::ptr::null_mut();
+        let mut data = ddsrt_iovec_t {
+            iov_base: std::ptr::null_mut(),
+            iov_len: 0,
+        };
+
+        #[cfg(feature = "dds_shm")]
+        let iox_chunk: Option<IoxChunk> = match ((*serdata).iox_chunk).is_null() {
+            false => {
+                let iox_chunk_ptr = (*serdata).iox_chunk;
+                let header = iceoryx_header_from_chunk(iox_chunk_ptr);
+
+                // If the Iceoryx chunk contains raw sample data this needs to be serialized before forwading to Zenoh
+                if (*header).shm_data_state == iox_shm_data_state_t_IOX_CHUNK_CONTAINS_RAW_DATA {
+                    let serialized_serdata = ddsi_serdata_from_sample(
+                        (*serdata).type_,
+                        (*serdata).kind,
+                        (*serdata).iox_chunk,
+                    );
+
+                    let size = ddsi_serdata_size(serialized_serdata);
+                    sdref =
+                        ddsi_serdata_to_ser_ref(serialized_serdata, 0, size as usize, &mut data);
+                    ddsi_serdata_unref(serialized_serdata);
+
+                    // IoxChunk not needed where raw data has been serialized
+                    None
+                } else {
+                    Some(IoxChunk {
+                        ptr: iox_chunk_ptr,
+                        header,
+                    })
+                }
+            }
+            true => None,
+        };
+
+        // At this point sdref will be null if:
+        //
+        // * Iceoryx was not enabled/used - in this case data will contain the CDR header and payload
+        // * Iceoryx chunk contained serialized data - in this case data will contain the CDR header
+        if sdref.is_null() {
+            let size = ddsi_serdata_size(serdata);
+            sdref = ddsi_serdata_to_ser_ref(serdata, 0, size as usize, &mut data);
+        }
+
+        #[cfg(feature = "dds_shm")]
+        return DDSRawSample {
+            sdref,
+            data,
+            iox_chunk,
+        };
+        #[cfg(not(feature = "dds_shm"))]
+        return DDSRawSample { sdref, data };
+    }
+
+    fn data_as_slice(&self) -> &[u8] {
+        unsafe {
+            slice::from_raw_parts(self.data.iov_base as *const u8, self.data.iov_len as usize)
+        }
+    }
+
+    pub fn payload_as_slice(&self) -> &[u8] {
+        unsafe {
+            #[cfg(feature = "dds_shm")]
+            {
+                if let Some(iox_chunk) = self.iox_chunk.as_ref() {
+                    return iox_chunk.as_slice();
+                }
+            }
+            &slice::from_raw_parts(self.data.iov_base as *const u8, self.data.iov_len as usize)[4..]
+        }
+    }
+
+    pub fn hex_encode(&self) -> String {
+        let mut encoded = String::new();
+        let data_encoded = hex::encode(self.data_as_slice());
+        encoded.push_str(data_encoded.as_str());
+
+        #[cfg(feature = "dds_shm")]
+        {
+            if let Some(iox_chunk) = self.iox_chunk.as_ref() {
+                let iox_encoded = hex::encode(iox_chunk.as_slice());
+                encoded.push_str(iox_encoded.as_str());
+            }
+        }
+
+        encoded
+    }
+
+    pub fn len(&self) -> usize {
+        #[cfg(feature = "dds_shm")]
+        {
+            self.data.iov_len + self.iox_chunk.as_ref().map(IoxChunk::len).unwrap_or(0)
+        }
+
+        #[cfg(not(feature = "dds_shm"))]
+        self.data.iov_len.try_into().unwrap()
+    }
+}
+
+impl Drop for DDSRawSample {
+    fn drop(&mut self) {
+        unsafe {
+            ddsi_serdata_to_ser_unref(self.sdref, &self.data);
+        }
+    }
+}
+
+impl fmt::Debug for DDSRawSample {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        #[cfg(feature = "dds_shm")]
+        {
+            // Where data was received via Iceoryx write both the header (contained in buf.data) and
+            // payload (contained in buf.iox_chunk) to the formatter.
+            if let Some(iox_chunk) = self.iox_chunk {
+                return write!(
+                    f,
+                    "[{:02x?}, {:02x?}]",
+                    self.data_as_slice(),
+                    iox_chunk.as_slice()
+                );
+            }
+        }
+        write!(f, "{:02x?}", self.data_as_slice())
+    }
+}
+
+impl From<&DDSRawSample> for ZBuf {
+    fn from(buf: &DDSRawSample) -> Self {
+        #[cfg(feature = "dds_shm")]
+        {
+            // Where data was received via Iceoryx return both the header (contained in buf.data) and
+            // payload (contained in buf.iox_chunk) in a buffer.
+            if let Some(iox_chunk) = buf.iox_chunk {
+                let mut zbuf = ZBuf::default();
+                zbuf.push_zslice(ZSlice::from(buf.data_as_slice().to_vec()));
+                zbuf.push_zslice(ZSlice::from(iox_chunk.as_slice().to_vec()));
+                return zbuf;
+            }
+        }
+        buf.data_as_slice().to_vec().into()
+    }
+}
+
+impl From<&DDSRawSample> for Value {
+    fn from(buf: &DDSRawSample) -> Self {
+        ZBuf::from(buf).into()
+    }
+}
+
+unsafe extern "C" fn on_data(dr: dds_entity_t, arg: *mut std::os::raw::c_void) {
+    let btx = Box::from_raw(arg as *mut (DiscoveryType, Sender<DDSDiscoveryEvent>));
+    let discovery_type = btx.0;
+    let sender = &btx.1;
+    let dp = dds_get_participant(dr);
+    let mut dpih: dds_instance_handle_t = 0;
+    let _ = dds_get_instance_handle(dp, &mut dpih);
+
+    #[allow(clippy::uninit_assumed_init)]
+    let mut si = MaybeUninit::<[dds_sample_info_t; MAX_SAMPLES as usize]>::uninit();
+    let mut samples: [*mut ::std::os::raw::c_void; MAX_SAMPLES as usize] =
+        [std::ptr::null_mut(); MAX_SAMPLES as usize];
+    samples[0] = std::ptr::null_mut();
+
+    let n = dds_take(
+        dr,
+        samples.as_mut_ptr() as *mut *mut raw::c_void,
+        si.as_mut_ptr() as *mut dds_sample_info_t,
+        MAX_SAMPLES,
+        MAX_SAMPLES as u32,
+    );
+    let si = si.assume_init();
+
+    for i in 0..n {
+        match discovery_type {
+            DiscoveryType::Publication | DiscoveryType::Subscription => {
+                let sample = samples[i as usize] as *mut dds_builtintopic_endpoint_t;
+                if (*sample).participant_instance_handle == dpih {
+                    // Ignore discovery of entities created by our own participant
+                    continue;
+                }
+                let is_alive = si[i as usize].instance_state == dds_instance_state_DDS_IST_ALIVE;
+                let key: Gid = (*sample).key.v.into();
+
+                if is_alive {
+                    let topic_name = match CStr::from_ptr((*sample).topic_name).to_str() {
+                        Ok(s) => s,
+                        Err(e) => {
+                            log::warn!("Discovery of an invalid topic name: {}", e);
+                            continue;
+                        }
+                    };
+                    if topic_name.starts_with("DCPS") {
+                        log::debug!(
+                            "Ignoring discovery of {} ({} is a builtin topic)",
+                            key,
+                            topic_name
+                        );
+                        continue;
+                    }
+
+                    let type_name = match CStr::from_ptr((*sample).type_name).to_str() {
+                        Ok(s) => s,
+                        Err(e) => {
+                            log::warn!("Discovery of an invalid topic type: {}", e);
+                            continue;
+                        }
+                    };
+                    let participant_key = (*sample).participant_key.v.into();
+                    let keyless = (*sample).key.v[15] == 3 || (*sample).key.v[15] == 4;
+
+                    log::debug!(
+                        "Discovered DDS {} {} from Participant {} on {} with type {} (keyless: {})",
+                        discovery_type,
+                        key,
+                        participant_key,
+                        topic_name,
+                        type_name,
+                        keyless
+                    );
+
+                    let mut type_info: *const dds_typeinfo_t = std::ptr::null();
+                    let ret = dds_builtintopic_get_endpoint_type_info(sample, &mut type_info);
+
+                    let type_info = match ret {
+                        0 => match type_info.is_null() {
+                            false => Some(Arc::new(TypeInfo::new(type_info))),
+                            true => {
+                                log::trace!(
+                                    "Type information not available for type {}",
+                                    type_name
+                                );
+                                None
+                            }
+                        },
+                        _ => {
+                            log::warn!(
+                                "Failed to lookup type information({})",
+                                CStr::from_ptr(dds_strretcode(ret))
+                                    .to_str()
+                                    .unwrap_or("unrecoverable DDS retcode")
+                            );
+                            None
+                        }
+                    };
+
+                    // send a DDSDiscoveryEvent
+                    let entity = DdsEntity {
+                        key,
+                        participant_key,
+                        topic_name: String::from(topic_name),
+                        type_name: String::from(type_name),
+                        keyless,
+                        type_info,
+                        qos: Qos::from_qos_native((*sample).qos),
+                    };
+
+                    if let DiscoveryType::Publication = discovery_type {
+                        send_discovery_event(
+                            sender,
+                            DDSDiscoveryEvent::DiscoveredPublication { entity },
+                        );
+                    } else {
+                        send_discovery_event(
+                            sender,
+                            DDSDiscoveryEvent::DiscoveredSubscription { entity },
+                        );
+                    }
+                } else if let DiscoveryType::Publication = discovery_type {
+                    send_discovery_event(
+                        sender,
+                        DDSDiscoveryEvent::UndiscoveredPublication { key },
+                    );
+                } else {
+                    send_discovery_event(
+                        sender,
+                        DDSDiscoveryEvent::UndiscoveredSubscription { key },
+                    );
+                }
+            }
+            DiscoveryType::Participant => {
+                let sample = samples[i as usize] as *mut dds_builtintopic_participant_t;
+                let is_alive = si[i as usize].instance_state == dds_instance_state_DDS_IST_ALIVE;
+                let key: Gid = (*sample).key.v.into();
+
+                let mut guid = dds_builtintopic_guid { v: [0; 16] };
+                let _ = dds_get_guid(dp, &mut guid);
+                let guid = guid.v.into();
+
+                if key == guid {
+                    // Ignore discovery of entities created by our own participant
+                    continue;
+                }
+
+                if is_alive {
+                    log::debug!("Discovered DDS Participant {})", key,);
+
+                    // Send a DDSDiscoveryEvent
+                    let entity = DdsParticipant {
+                        key,
+                        qos: Qos::from_qos_native((*sample).qos),
+                    };
+
+                    send_discovery_event(
+                        sender,
+                        DDSDiscoveryEvent::DiscoveredParticipant { entity },
+                    );
+                } else {
+                    send_discovery_event(
+                        sender,
+                        DDSDiscoveryEvent::UndiscoveredParticipant { key },
+                    );
+                }
+            }
+        }
+    }
+    dds_return_loan(
+        dr,
+        samples.as_mut_ptr() as *mut *mut raw::c_void,
+        MAX_SAMPLES as i32,
+    );
+    Box::into_raw(btx);
+}
+
+fn send_discovery_event(sender: &Sender<DDSDiscoveryEvent>, event: DDSDiscoveryEvent) {
+    if let Err(e) = sender.try_send(event) {
+        log::error!(
+            "INTERNAL ERROR sending DDSDiscoveryEvent to internal channel: {:?}",
+            e
+        );
+    }
+}
+
+pub fn run_discovery(dp: dds_entity_t, tx: Sender<DDSDiscoveryEvent>) {
+    unsafe {
+        let ptx = Box::new((DiscoveryType::Publication, tx.clone()));
+        let stx = Box::new((DiscoveryType::Subscription, tx.clone()));
+        let dptx = Box::new((DiscoveryType::Participant, tx));
+        let sub_listener = dds_create_listener(Box::into_raw(ptx) as *mut std::os::raw::c_void);
+        dds_lset_data_available(sub_listener, Some(on_data));
+
+        let _pr = dds_create_reader(
+            dp,
+            DDS_BUILTIN_TOPIC_DCPSPUBLICATION,
+            std::ptr::null(),
+            sub_listener,
+        );
+
+        let sub_listener = dds_create_listener(Box::into_raw(stx) as *mut std::os::raw::c_void);
+        dds_lset_data_available(sub_listener, Some(on_data));
+        let _sr = dds_create_reader(
+            dp,
+            DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION,
+            std::ptr::null(),
+            sub_listener,
+        );
+
+        let sub_listener = dds_create_listener(Box::into_raw(dptx) as *mut std::os::raw::c_void);
+        dds_lset_data_available(sub_listener, Some(on_data));
+        let _dpr = dds_create_reader(
+            dp,
+            DDS_BUILTIN_TOPIC_DCPSPARTICIPANT,
+            std::ptr::null(),
+            sub_listener,
+        );
+    }
+}
+
+unsafe extern "C" fn data_forwarder_listener(dr: dds_entity_t, arg: *mut std::os::raw::c_void) {
+    let pa = arg as *mut (String, KeyExpr, Arc<Session>, CongestionControl);
+    let mut zp: *mut ddsi_serdata = std::ptr::null_mut();
+    #[allow(clippy::uninit_assumed_init)]
+    let mut si = MaybeUninit::<[dds_sample_info_t; 1]>::uninit();
+    while dds_takecdr(
+        dr,
+        &mut zp,
+        1,
+        si.as_mut_ptr() as *mut dds_sample_info_t,
+        DDS_ANY_STATE,
+    ) > 0
+    {
+        let si = si.assume_init();
+        if si[0].valid_data {
+            let raw_sample = DDSRawSample::create(zp);
+
+            if *crate::LOG_PAYLOAD {
+                log::trace!(
+                    "Route Publisher (DDS:{} -> Zenoh:{}) - routing payload: {:02x?}",
+                    &(*pa).0,
+                    &(*pa).1,
+                    raw_sample
+                );
+            } else {
+                log::trace!(
+                    "Route Publisher (DDS:{} -> Zenoh:{}) - routing {} bytes",
+                    &(*pa).0,
+                    &(*pa).1,
+                    raw_sample.len()
+                );
+            }
+            let _ = (*pa)
+                .2
+                .put(&(*pa).1, &raw_sample)
+                .congestion_control((*pa).3)
+                .res_sync();
+        }
+        ddsi_serdata_unref(zp);
+    }
+}
+
+#[allow(clippy::too_many_arguments)]
+pub fn create_forwarding_dds_reader(
+    dp: dds_entity_t,
+    topic_name: String,
+    type_name: String,
+    type_info: &Option<Arc<TypeInfo>>,
+    keyless: bool,
+    mut qos: Qos,
+    z_key: KeyExpr,
+    z: Arc<Session>,
+    read_period: Option<Duration>,
+    congestion_ctrl: CongestionControl,
+) -> Result<dds_entity_t, String> {
+    unsafe {
+        let t = create_topic(dp, &topic_name, &type_name, type_info, keyless);
+
+        match read_period {
+            None => {
+                // Use a Listener to route data as soon as it arrives
+                let arg = Box::new((topic_name, z_key, z, congestion_ctrl));
+                let sub_listener =
+                    dds_create_listener(Box::into_raw(arg) as *mut std::os::raw::c_void);
+                dds_lset_data_available(sub_listener, Some(data_forwarder_listener));
+                let qos_native = qos.to_qos_native();
+                let reader = dds_create_reader(dp, t, qos_native, sub_listener);
+                Qos::delete_qos_native(qos_native);
+                if reader >= 0 {
+                    let res = dds_reader_wait_for_historical_data(reader, qos::DDS_100MS_DURATION);
+                    if res < 0 {
+                        log::error!(
+                            "Error calling dds_reader_wait_for_historical_data(): {}",
+                            CStr::from_ptr(dds_strretcode(-res))
+                                .to_str()
+                                .unwrap_or("unrecoverable DDS retcode")
+                        );
+                    }
+                    Ok(reader)
+                } else {
+                    Err(format!(
+                        "Error creating DDS Reader: {}",
+                        CStr::from_ptr(dds_strretcode(-reader))
+                            .to_str()
+                            .unwrap_or("unrecoverable DDS retcode")
+                    ))
+                }
+            }
+            Some(period) => {
+                // Use a periodic task that takes data to route from a Reader with KEEP_LAST 1
+                qos.history = Some(History {
+                    kind: HistoryKind::KEEP_LAST,
+                    depth: 1,
+                });
+                let qos_native = qos.to_qos_native();
+                let reader = dds_create_reader(dp, t, qos_native, std::ptr::null());
+                let z_key = z_key.into_owned();
+                task::spawn(async move {
+                    // loop while reader's instance handle remain the same
+                    // (if reader was deleted, its dds_entity_t value might have been
+                    // reused by a new entity... don't trust it! Only trust instance handle)
+                    let mut original_handle: dds_instance_handle_t = 0;
+                    dds_get_instance_handle(reader, &mut original_handle);
+                    let mut handle: dds_instance_handle_t = 0;
+                    while dds_get_instance_handle(reader, &mut handle) == DDS_RETCODE_OK as i32 {
+                        if handle != original_handle {
+                            break;
+                        }
+
+                        async_std::task::sleep(period).await;
+                        let mut zp: *mut ddsi_serdata = std::ptr::null_mut();
+                        #[allow(clippy::uninit_assumed_init)]
+                        let mut si = MaybeUninit::<[dds_sample_info_t; 1]>::uninit();
+                        while dds_takecdr(
+                            reader,
+                            &mut zp,
+                            1,
+                            si.as_mut_ptr() as *mut dds_sample_info_t,
+                            DDS_ANY_STATE,
+                        ) > 0
+                        {
+                            let si = si.assume_init();
+                            if si[0].valid_data {
+                                log::trace!(
+                                    "Route (periodic) data to zenoh resource with rid={}",
+                                    z_key
+                                );
+
+                                let raw_sample = DDSRawSample::create(zp);
+
+                                let _ = z
+                                    .put(&z_key, &raw_sample)
+                                    .congestion_control(congestion_ctrl)
+                                    .res_sync();
+                            }
+                            ddsi_serdata_unref(zp);
+                        }
+                    }
+                });
+                Ok(reader)
+            }
+        }
+    }
+}
+
+unsafe fn create_topic(
+    dp: dds_entity_t,
+    topic_name: &str,
+    type_name: &str,
+    type_info: &Option<Arc<TypeInfo>>,
+    keyless: bool,
+) -> dds_entity_t {
+    let cton = CString::new(topic_name.to_owned()).unwrap().into_raw();
+    let ctyn = CString::new(type_name.to_owned()).unwrap().into_raw();
+
+    match type_info {
+        None => cdds_create_blob_topic(dp, cton, ctyn, keyless),
+        Some(type_info) => {
+            let mut descriptor: *mut dds_topic_descriptor_t = std::ptr::null_mut();
+
+            let ret = dds_create_topic_descriptor(
+                dds_find_scope_DDS_FIND_SCOPE_GLOBAL,
+                dp,
+                type_info.ptr,
+                500000000,
+                &mut descriptor,
+            );
+            let mut topic: dds_entity_t = 0;
+            if ret == (DDS_RETCODE_OK as i32) {
+                topic = dds_create_topic(dp, descriptor, cton, std::ptr::null(), std::ptr::null());
+                assert!(topic >= 0);
+                dds_delete_topic_descriptor(descriptor);
+            }
+            topic
+        }
+    }
+}
+
+pub fn create_forwarding_dds_writer(
+    dp: dds_entity_t,
+    topic_name: String,
+    type_name: String,
+    keyless: bool,
+    qos: Qos,
+) -> Result<dds_entity_t, String> {
+    let cton = CString::new(topic_name).unwrap().into_raw();
+    let ctyn = CString::new(type_name).unwrap().into_raw();
+
+    unsafe {
+        let t = cdds_create_blob_topic(dp, cton, ctyn, keyless);
+        let qos_native = qos.to_qos_native();
+        let writer: i32 = dds_create_writer(dp, t, qos_native, std::ptr::null_mut());
+        Qos::delete_qos_native(qos_native);
+        if writer >= 0 {
+            Ok(writer)
+        } else {
+            Err(format!(
+                "Error creating DDS Writer: {}",
+                CStr::from_ptr(dds_strretcode(-writer))
+                    .to_str()
+                    .unwrap_or("unrecoverable DDS retcode")
+            ))
+        }
+    }
+}
+
+pub fn delete_dds_entity(entity: dds_entity_t) -> Result<(), String> {
+    unsafe {
+        let r = dds_delete(entity);
+        match r {
+            0 | DDS_RETCODE_ALREADY_DELETED => Ok(()),
+            e => Err(format!("Error deleting DDS entity - retcode={e}")),
+        }
+    }
+}
+
+pub fn get_guid(entity: &dds_entity_t) -> Result<Gid, String> {
+    unsafe {
+        let mut guid = dds_guid_t { v: [0; 16] };
+        let r = dds_get_guid(*entity, &mut guid);
+        if r == 0 {
+            Ok(Gid::from(guid.v))
+        } else {
+            Err(format!("Error getting GUID of DDS entity - retcode={r}"))
+        }
+    }
+}
+
+pub fn serialize_entity_guid<S>(entity: &dds_entity_t, s: S) -> Result<S::Ok, S::Error>
+where
+    S: Serializer,
+{
+    match get_guid(entity) {
+        Ok(guid) => s.serialize_str(&guid.to_string()),
+        Err(_) => s.serialize_str("UNKOWN_GUID"),
+    }
+}
diff --git a/zenoh-plugin-ros2dds/src/discovered_entities.rs b/zenoh-plugin-ros2dds/src/discovered_entities.rs
new file mode 100644
index 0000000..e1f4adc
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/discovered_entities.rs
@@ -0,0 +1,475 @@
+//
+// 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>
+//
+
+use std::collections::HashMap;
+use std::fmt::{self, Debug};
+use zenoh::prelude::r#async::AsyncResolve;
+use zenoh::{prelude::*, queryable::Query};
+
+use crate::events::ROS2DiscoveryEvent;
+use crate::ros_discovery::NodeEntitiesInfo;
+use crate::{
+    dds_discovery::{DdsEntity, DdsParticipant},
+    gid::Gid,
+    node_info::*,
+    ros_discovery::ParticipantEntitiesInfo,
+};
+
+zenoh::kedefine!(
+    pub(crate) ke_admin_participant: "dds/${pgid:*}",
+    pub(crate) ke_admin_writer: "dds/${pgid:*}/writer/${wgid:*}/${topic:**}",
+    pub(crate) ke_admin_reader: "dds/${pgid:*}/reader/${wgid:*}/${topic:**}",
+    pub(crate) ke_admin_node: "node/${node_id:**}",
+);
+
+#[derive(Default)]
+pub struct DiscoveredEntities {
+    participants: HashMap<Gid, DdsParticipant>,
+    writers: HashMap<Gid, DdsEntity>,
+    readers: HashMap<Gid, DdsEntity>,
+    ros_participant_info: HashMap<Gid, ParticipantEntitiesInfo>,
+    nodes_info: HashMap<Gid, HashMap<String, NodeInfo>>,
+    admin_space: HashMap<OwnedKeyExpr, EntityRef>,
+}
+
+impl Debug for DiscoveredEntities {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        write!(
+            f,
+            "participants: {:?}\n",
+            self.participants.keys().collect::<Vec<&Gid>>()
+        )?;
+        write!(
+            f,
+            "writers: {:?}\n",
+            self.writers.keys().collect::<Vec<&Gid>>()
+        )?;
+        write!(
+            f,
+            "readers: {:?}\n",
+            self.readers.keys().collect::<Vec<&Gid>>()
+        )?;
+        write!(f, "ros_participant_info: {:?}\n", self.ros_participant_info)?;
+        write!(f, "nodes_info: {:?}\n", self.nodes_info)?;
+        write!(
+            f,
+            "admin_space: {:?}\n",
+            self.admin_space.keys().collect::<Vec<&OwnedKeyExpr>>()
+        )
+    }
+}
+
+#[derive(Debug)]
+enum EntityRef {
+    Participant(Gid),
+    Writer(Gid),
+    Reader(Gid),
+    Node(Gid, String),
+}
+
+impl DiscoveredEntities {
+    #[inline]
+    pub fn add_participant(&mut self, participant: DdsParticipant) {
+        self.admin_space.insert(
+            zenoh::keformat!(ke_admin_participant::formatter(), pgid = participant.key).unwrap(),
+            EntityRef::Participant(participant.key),
+        );
+        self.participants.insert(participant.key, participant);
+    }
+
+    #[inline]
+    pub fn remove_participant(&mut self, gid: &Gid) -> Vec<ROS2DiscoveryEvent> {
+        let mut events: Vec<ROS2DiscoveryEvent> = Vec::new();
+        // Remove Participant from participants list and from admin_space
+        self.participants.remove(gid);
+        self.admin_space
+            .remove(&zenoh::keformat!(ke_admin_participant::formatter(), pgid = gid).unwrap());
+        // Remove associated NodeInfos
+        if let Some(nodes) = self.nodes_info.remove(gid) {
+            for (name, mut node) in nodes {
+                log::info!("Undiscovered ROS Node {}", name);
+                self.admin_space.remove(
+                    &zenoh::keformat!(ke_admin_node::formatter(), node_id = node.id_as_keyexpr(),)
+                        .unwrap(),
+                );
+                // return undiscovery events for this node
+                events.append(&mut node.remove_all_entities());
+            }
+        }
+        events
+    }
+
+    #[inline]
+    pub fn add_writer(&mut self, writer: DdsEntity) -> Option<ROS2DiscoveryEvent> {
+        // insert in admin space
+        self.admin_space.insert(
+            zenoh::keformat!(
+                ke_admin_writer::formatter(),
+                pgid = writer.participant_key,
+                wgid = writer.key,
+                topic = &writer.topic_name,
+            )
+            .unwrap(),
+            EntityRef::Writer(writer.key),
+        );
+
+        // Check if this Writer is present in some NodeInfo.undiscovered_writer list
+        let mut event: Option<ROS2DiscoveryEvent> = None;
+        for (_, nodes_map) in &mut self.nodes_info {
+            for (_, node) in nodes_map {
+                if let Some(i) = node
+                    .undiscovered_writer
+                    .iter()
+                    .position(|gid| gid == &writer.key)
+                {
+                    // update the NodeInfo with this Writer's info
+                    node.undiscovered_writer.remove(i);
+                    event = node.update_with_writer(&writer);
+                    break;
+                }
+            }
+            if event.is_some() {
+                break;
+            }
+        }
+
+        // insert in Writers list
+        self.writers.insert(writer.key, writer);
+        event
+    }
+
+    #[inline]
+    pub fn get_writer(&self, gid: &Gid) -> Option<&DdsEntity> {
+        self.writers.get(gid)
+    }
+
+    #[inline]
+    pub fn remove_writer(&mut self, gid: &Gid) -> Option<ROS2DiscoveryEvent> {
+        if let Some(writer) = self.writers.remove(gid) {
+            self.admin_space.remove(
+                &zenoh::keformat!(
+                    ke_admin_writer::formatter(),
+                    pgid = writer.participant_key,
+                    wgid = writer.key,
+                    topic = &writer.topic_name,
+                )
+                .unwrap(),
+            );
+
+            // Remove the Writer from any NodeInfo that might use it, possibly leading to a UndiscoveredX event
+            for (_, nodes_map) in &mut self.nodes_info {
+                for (_, node) in nodes_map {
+                    if let Some(e) = node.remove_writer(gid) {
+                        // A Reader can be used by only 1 Node, no need to go on with loops
+                        return Some(e);
+                    }
+                }
+            }
+        }
+        None
+    }
+
+    #[inline]
+    pub fn add_reader(&mut self, reader: DdsEntity) -> Option<ROS2DiscoveryEvent> {
+        // insert in admin space
+        self.admin_space.insert(
+            zenoh::keformat!(
+                ke_admin_reader::formatter(),
+                pgid = reader.participant_key,
+                wgid = reader.key,
+                topic = &reader.topic_name,
+            )
+            .unwrap(),
+            EntityRef::Reader(reader.key),
+        );
+
+        // Check if this Reader is present in some NodeInfo.undiscovered_reader list
+        let mut event = None;
+        for (_, nodes_map) in &mut self.nodes_info {
+            for (_, node) in nodes_map {
+                if let Some(i) = node
+                    .undiscovered_reader
+                    .iter()
+                    .position(|gid| gid == &reader.key)
+                {
+                    // update the NodeInfo with this Reader's info
+                    node.undiscovered_reader.remove(i);
+                    event = node.update_with_writer(&reader);
+                    break;
+                }
+            }
+            if event.is_some() {
+                break;
+            }
+        }
+
+        // insert in Readers list
+        self.readers.insert(reader.key, reader);
+        event
+    }
+
+    #[inline]
+    pub fn get_reader(&self, gid: &Gid) -> Option<&DdsEntity> {
+        self.readers.get(gid)
+    }
+
+    #[inline]
+    pub fn remove_reader(&mut self, gid: &Gid) -> Option<ROS2DiscoveryEvent> {
+        if let Some(reader) = self.readers.remove(gid) {
+            self.admin_space.remove(
+                &zenoh::keformat!(
+                    ke_admin_reader::formatter(),
+                    pgid = reader.participant_key,
+                    wgid = reader.key,
+                    topic = &reader.topic_name,
+                )
+                .unwrap(),
+            );
+
+            // Remove the Reader from any NodeInfo that might use it, possibly leading to a UndiscoveredX event
+            for (_, nodes_map) in &mut self.nodes_info {
+                for (_, node) in nodes_map {
+                    if let Some(e) = node.remove_reader(gid) {
+                        // A Reader can be used by only 1 Node, no need to go on with loops
+                        return Some(e);
+                    }
+                }
+            }
+        }
+        None
+    }
+
+    pub fn update_participant_info(
+        &mut self,
+        ros_info: ParticipantEntitiesInfo,
+    ) -> Vec<ROS2DiscoveryEvent> {
+        let mut events: Vec<ROS2DiscoveryEvent> = Vec::new();
+        let Self {
+            writers,
+            readers,
+            nodes_info,
+            admin_space,
+            ..
+        } = self;
+        let nodes_map = nodes_info.entry(ros_info.gid).or_insert_with(HashMap::new);
+
+        // Remove nodes that are no longer present in ParticipantEntitiesInfo
+        nodes_map.retain(|name, node| {
+            if !ros_info.node_entities_info_seq.contains_key(name) {
+                log::info!("Undiscovered ROS Node {}", name);
+                admin_space.remove(
+                    &zenoh::keformat!(ke_admin_node::formatter(), node_id = node.id_as_keyexpr(),)
+                        .unwrap(),
+                );
+                // return undiscovery events for this node
+                events.append(&mut node.remove_all_entities());
+                false
+            } else {
+                true
+            }
+        });
+
+        // For each declared node in this ros_node_info
+        for (name, ros_node_info) in &ros_info.node_entities_info_seq {
+            // If node was not yet discovered, add a new NodeInfo
+            if !nodes_map.contains_key(name) {
+                log::info!("Discovered ROS Node {}", name);
+                match NodeInfo::create(
+                    ros_node_info.node_namespace.clone(),
+                    ros_node_info.node_name.clone(),
+                    ros_info.gid,
+                ) {
+                    Ok(node) => {
+                        self.admin_space.insert(
+                            zenoh::keformat!(
+                                ke_admin_node::formatter(),
+                                node_id = node.id_as_keyexpr(),
+                            )
+                            .unwrap(),
+                            EntityRef::Node(ros_info.gid, node.fullname().to_string()),
+                        );
+                        nodes_map.insert(node.fullname().to_string(), node);
+                    }
+                    Err(e) => {
+                        log::warn!("ROS Node has incompatible name: {e}");
+                        break;
+                    }
+                }
+            };
+
+            // Update NodeInfo, adding resulting events to the list
+            let node = nodes_map.get_mut(name).unwrap();
+            events.append(&mut Self::update_node_info(
+                node,
+                ros_node_info,
+                readers,
+                writers,
+            ));
+        }
+
+        // Save ParticipantEntitiesInfo
+        self.ros_participant_info.insert(ros_info.gid, ros_info);
+        events
+    }
+
+    pub fn update_node_info(
+        node: &mut NodeInfo,
+        ros_node_info: &NodeEntitiesInfo,
+        readers: &mut HashMap<Gid, DdsEntity>,
+        writers: &mut HashMap<Gid, DdsEntity>,
+    ) -> Vec<ROS2DiscoveryEvent> {
+        let mut events = Vec::new();
+        // For each declared Reader
+        for rgid in &ros_node_info.reader_gid_seq {
+            if let Some(entity) = readers.get(rgid) {
+                log::debug!(
+                    "ROS Node {ros_node_info} declares Reader on {}",
+                    entity.topic_name
+                );
+                node.update_with_reader(entity).map(|e| events.push(e));
+            } else {
+                log::debug!(
+                    "ROS Node {ros_node_info} declares a not yet discovered DDS Reader: {rgid}"
+                );
+                node.undiscovered_reader.push(*rgid);
+            }
+        }
+        // For each declared Writer
+        for wgid in &ros_node_info.writer_gid_seq {
+            if let Some(entity) = writers.get(wgid) {
+                log::debug!(
+                    "ROS Node {ros_node_info} declares Writer on {}",
+                    entity.topic_name
+                );
+                node.update_with_writer(entity).map(|e| events.push(e));
+            } else {
+                log::debug!(
+                    "ROS Node {ros_node_info} declares a not yet discovered DDS Writer: {wgid}"
+                );
+                node.undiscovered_writer.push(*wgid);
+            }
+        }
+        events
+    }
+
+    fn get_entity_json_value(
+        &self,
+        entity_ref: &EntityRef,
+    ) -> Result<Option<serde_json::Value>, serde_json::Error> {
+        match entity_ref {
+            EntityRef::Participant(gid) => self
+                .participants
+                .get(gid)
+                .map(serde_json::to_value)
+                .map(remove_null_qos_values)
+                .transpose(),
+            EntityRef::Writer(gid) => self
+                .writers
+                .get(gid)
+                .map(serde_json::to_value)
+                .map(remove_null_qos_values)
+                .transpose(),
+            EntityRef::Reader(gid) => self
+                .readers
+                .get(gid)
+                .map(serde_json::to_value)
+                .map(remove_null_qos_values)
+                .transpose(),
+            EntityRef::Node(gid, name) => self
+                .nodes_info
+                .get(gid)
+                .map(|map| map.get(name))
+                .flatten()
+                .map(serde_json::to_value)
+                .transpose(),
+        }
+    }
+
+    pub async fn treat_admin_query(&self, query: &Query, admin_keyexpr_prefix: &keyexpr) {
+        let selector = query.selector();
+
+        // get the list of sub-key expressions that will match the same stored keys than
+        // the selector, if those keys had the admin_keyexpr_prefix.
+        let sub_kes = selector.key_expr.strip_prefix(admin_keyexpr_prefix);
+        if sub_kes.is_empty() {
+            log::error!("Received query for admin space: '{}' - but it's not prefixed by admin_keyexpr_prefix='{}'", selector, admin_keyexpr_prefix);
+            return;
+        }
+
+        // For all sub-key expression
+        for sub_ke in sub_kes {
+            if sub_ke.is_wild() {
+                // iterate over all admin space to find matching keys and reply for each
+                for (ke, entity_ref) in self.admin_space.iter() {
+                    if sub_ke.intersects(ke) {
+                        self.send_admin_reply(query, admin_keyexpr_prefix, ke, entity_ref)
+                            .await;
+                    }
+                }
+            } else {
+                // sub_ke correspond to 1 key - just get it and reply
+                if let Some(entity_ref) = self.admin_space.get(sub_ke) {
+                    self.send_admin_reply(query, admin_keyexpr_prefix, sub_ke, entity_ref)
+                        .await;
+                }
+            }
+        }
+    }
+
+    async fn send_admin_reply(
+        &self,
+        query: &Query,
+        admin_keyexpr_prefix: &keyexpr,
+        key_expr: &keyexpr,
+        entity_ref: &EntityRef,
+    ) {
+        match self.get_entity_json_value(entity_ref) {
+            Ok(Some(v)) => {
+                let admin_keyexpr = admin_keyexpr_prefix / &key_expr;
+                if let Err(e) = query
+                    .reply(Ok(Sample::new(admin_keyexpr, v)))
+                    .res_async()
+                    .await
+                {
+                    log::warn!("Error replying to admin query {:?}: {}", query, e);
+                }
+            }
+            Ok(None) => log::error!("INTERNAL ERROR: Dangling {:?} for {}", entity_ref, key_expr),
+            Err(e) => {
+                log::error!("INTERNAL ERROR serializing admin value as JSON: {}", e)
+            }
+        }
+    }
+}
+
+// Remove any null QoS values from a serde_json::Value
+fn remove_null_qos_values(
+    value: Result<serde_json::Value, serde_json::Error>,
+) -> Result<serde_json::Value, serde_json::Error> {
+    match value {
+        Ok(value) => match value {
+            serde_json::Value::Object(mut obj) => {
+                let qos = obj.get_mut("qos");
+                if let Some(qos) = qos {
+                    if qos.is_object() {
+                        qos.as_object_mut().unwrap().retain(|_, v| !v.is_null());
+                    }
+                }
+                Ok(serde_json::Value::Object(obj))
+            }
+            _ => Ok(value),
+        },
+        Err(error) => Err(error),
+    }
+}
diff --git a/zenoh-plugin-ros2dds/src/discovery_mgr.rs b/zenoh-plugin-ros2dds/src/discovery_mgr.rs
new file mode 100644
index 0000000..3b6351e
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/discovery_mgr.rs
@@ -0,0 +1,148 @@
+//
+// 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>
+//
+use crate::dds_discovery::*;
+use crate::discovered_entities::DiscoveredEntities;
+use crate::events::ROS2DiscoveryEvent;
+use crate::ros_discovery::*;
+use async_std::task;
+use cyclors::dds_entity_t;
+use flume::{unbounded, Receiver, Sender};
+use futures::select;
+use std::sync::Arc;
+use std::sync::RwLock;
+use std::time::Duration;
+use zenoh::prelude::keyexpr;
+use zenoh::queryable::Query;
+use zenoh_core::zread;
+use zenoh_core::zwrite;
+use zenoh_util::{TimedEvent, Timer};
+
+use crate::ChannelEvent;
+use crate::ROS_DISCOVERY_INFO_POLL_INTERVAL_MS;
+
+pub struct DiscoveryMgr {
+    pub participant: dds_entity_t,
+    pub ros_discovery_mgr: Arc<RosDiscoveryInfoMgr>,
+    pub discovered_entities: Arc<RwLock<DiscoveredEntities>>,
+}
+
+impl DiscoveryMgr {
+    pub fn create(
+        participant: dds_entity_t,
+        ros_discovery_mgr: Arc<RosDiscoveryInfoMgr>,
+    ) -> DiscoveryMgr {
+        DiscoveryMgr {
+            participant,
+            ros_discovery_mgr,
+            discovered_entities: Arc::new(RwLock::new(Default::default())),
+        }
+    }
+
+    pub async fn run(&mut self, evt_sender: Sender<ROS2DiscoveryEvent>) {
+        // run DDS discovery
+        let (dds_disco_snd, dds_disco_rcv): (
+            Sender<DDSDiscoveryEvent>,
+            Receiver<DDSDiscoveryEvent>,
+        ) = unbounded();
+        run_discovery(self.participant, dds_disco_snd);
+
+        let ros_discovery_mgr = self.ros_discovery_mgr.clone();
+        let discovered_entities = self.discovered_entities.clone();
+
+        task::spawn(async move {
+            // Timer for periodic read of "ros_discovery_info" topic
+            let timer = Timer::default();
+            let (tx, ros_disco_timer_rcv): (Sender<()>, Receiver<()>) = unbounded();
+            let ros_disco_timer_event = TimedEvent::periodic(
+                Duration::from_millis(ROS_DISCOVERY_INFO_POLL_INTERVAL_MS),
+                ChannelEvent { tx },
+            );
+            timer.add_async(ros_disco_timer_event).await;
+
+            loop {
+                select!(
+                    evt = dds_disco_rcv.recv_async() => {
+                        match evt.unwrap() {
+                            DDSDiscoveryEvent::DiscoveredParticipant {entity} => {
+                                zwrite!(discovered_entities).add_participant(entity);
+                            },
+                            DDSDiscoveryEvent::UndiscoveredParticipant {key} => {
+                                let evts = zwrite!(discovered_entities).remove_participant(&key);
+                                for e in evts {
+                                    if let Err(err) = evt_sender.try_send(e) {
+                                        log::error!("Internal error: failed to send DDSDiscoveryEvent to main loop: {err}");
+                                    }
+                                }
+                            },
+                            DDSDiscoveryEvent::DiscoveredPublication{entity} => {
+                                let e = zwrite!(discovered_entities).add_writer(entity);
+                                if let Some(e) = e {
+                                    if let Err(err) = evt_sender.try_send(e) {
+                                        log::error!("Internal error: failed to send DDSDiscoveryEvent to main loop: {err}");
+                                    }
+                                }
+                            },
+                            DDSDiscoveryEvent::UndiscoveredPublication{key} => {
+                                let e = zwrite!(discovered_entities).remove_writer(&key);
+                                if let Some(e) = e {
+                                    if let Err(err) = evt_sender.try_send(e) {
+                                        log::error!("Internal error: failed to send DDSDiscoveryEvent to main loop: {err}");
+                                    }
+                                }
+                            },
+                            DDSDiscoveryEvent::DiscoveredSubscription {entity} => {
+                                let e = zwrite!(discovered_entities).add_reader(entity);
+                                if let Some(e) = e {
+                                    if let Err(err) = evt_sender.try_send(e) {
+                                        log::error!("Internal error: failed to send DDSDiscoveryEvent to main loop: {err}");
+                                    }
+                                }
+                            },
+                            DDSDiscoveryEvent::UndiscoveredSubscription {key} => {
+                                let e = zwrite!(discovered_entities).remove_reader(&key);
+                                if let Some(e) = e {
+                                    if let Err(err) = evt_sender.try_send(e) {
+                                        log::error!("Internal error: failed to send DDSDiscoveryEvent to main loop: {err}");
+                                    }
+                                }
+                            },
+                        }
+                    }
+
+                    _ = ros_disco_timer_rcv.recv_async() => {
+                        let infos = ros_discovery_mgr.read();
+                        for part_info in infos {
+                            log::debug!("Received ros_discovery_info from {}", part_info);
+                            let evts = zwrite!(discovered_entities).update_participant_info(part_info);
+                            for e in evts {
+                                if let Err(err) = evt_sender.try_send(e) {
+                                    log::error!("Internal error: failed to send DDSDiscoveryEvent to main loop: {err}");
+                                }
+                            }
+                        }
+                    }
+                )
+            }
+        });
+    }
+
+    pub fn treat_admin_query(&self, query: &Query, admin_keyexpr_prefix: &keyexpr) {
+        // pass query to discovered_entities
+        let discovered_entities = zread!(self.discovered_entities);
+        // TODO: find a better solution than block_on()
+        async_std::task::block_on(
+            discovered_entities.treat_admin_query(query, admin_keyexpr_prefix),
+        );
+    }
+}
diff --git a/zenoh-plugin-ros2dds/src/events.rs b/zenoh-plugin-ros2dds/src/events.rs
new file mode 100644
index 0000000..be9cffc
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/events.rs
@@ -0,0 +1,162 @@
+//
+// 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>
+//
+
+use std::fmt::Display;
+
+use cyclors::qos::Qos;
+use zenoh::prelude::OwnedKeyExpr;
+
+use crate::node_info::*;
+
+/// A (local) discovery event of a ROS2 interface
+#[derive(Debug)]
+pub enum ROS2DiscoveryEvent {
+    DiscoveredMsgPub(String, MsgPub),
+    UndiscoveredMsgPub(String, MsgPub),
+    DiscoveredMsgSub(String, MsgSub),
+    UndiscoveredMsgSub(String, MsgSub),
+    DiscoveredServiceSrv(String, ServiceSrv),
+    UndiscoveredServiceSrv(String, ServiceSrv),
+    DiscoveredServiceCli(String, ServiceCli),
+    UndiscoveredServiceCli(String, ServiceCli),
+    DiscoveredActionSrv(String, ActionSrv),
+    UndiscoveredActionSrv(String, ActionSrv),
+    DiscoveredActionCli(String, ActionCli),
+    UndiscoveredActionCli(String, ActionCli),
+}
+
+impl std::fmt::Display for ROS2DiscoveryEvent {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        use ROS2DiscoveryEvent::*;
+        match self {
+            DiscoveredMsgPub(node, iface) => write!(f, "Node {node} declares {iface}"),
+            DiscoveredMsgSub(node, iface) => write!(f, "Node {node} declares {iface}"),
+            DiscoveredServiceSrv(node, iface) => write!(f, "Node {node} declares {iface}"),
+            DiscoveredServiceCli(node, iface) => write!(f, "Node {node} declares {iface}"),
+            DiscoveredActionSrv(node, iface) => write!(f, "Node {node} declares {iface}"),
+            DiscoveredActionCli(node, iface) => write!(f, "Node {node} declares {iface}"),
+            UndiscoveredMsgPub(node, iface) => write!(f, "Node {node} undeclares {iface}"),
+            UndiscoveredMsgSub(node, iface) => write!(f, "Node {node} undeclares {iface}"),
+            UndiscoveredServiceSrv(node, iface) => write!(f, "Node {node} undeclares {iface}"),
+            UndiscoveredServiceCli(node, iface) => write!(f, "Node {node} undeclares {iface}"),
+            UndiscoveredActionSrv(node, iface) => write!(f, "Node {node} undeclares {iface}"),
+            UndiscoveredActionCli(node, iface) => write!(f, "Node {node} undeclares {iface}"),
+        }
+    }
+}
+
+/// A (remote) announcement/retirement of a ROS2 interface
+#[derive(Debug)]
+pub enum ROS2AnnouncementEvent {
+    AnnouncedMsgPub {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+        ros2_type: String,
+        keyless: bool,
+        writer_qos: Qos,
+    },
+    RetiredMsgPub {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+    },
+    AnnouncedMsgSub {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+        ros2_type: String,
+        keyless: bool,
+        reader_qos: Qos,
+    },
+    RetiredMsgSub {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+    },
+    AnnouncedServiceSrv {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+        ros2_type: String,
+    },
+    RetiredServiceSrv {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+    },
+    AnnouncedServiceCli {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+        ros2_type: String,
+    },
+    RetiredServiceCli {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+    },
+    AnnouncedActionSrv {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+        ros2_type: String,
+    },
+    RetiredActionSrv {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+    },
+    AnnouncedActionCli {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+        ros2_type: String,
+    },
+    RetiredActionCli {
+        plugin_id: OwnedKeyExpr,
+        zenoh_key_expr: OwnedKeyExpr,
+    },
+}
+
+impl Display for ROS2AnnouncementEvent {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        use ROS2AnnouncementEvent::*;
+        match self {
+            AnnouncedMsgPub { zenoh_key_expr, .. } => {
+                write!(f, "announces Publisher {zenoh_key_expr}")
+            }
+            AnnouncedMsgSub { zenoh_key_expr, .. } => {
+                write!(f, "announces Subscriber {zenoh_key_expr}")
+            }
+            AnnouncedServiceSrv { zenoh_key_expr, .. } => {
+                write!(f, "announces Service Server {zenoh_key_expr}")
+            }
+            AnnouncedServiceCli { zenoh_key_expr, .. } => {
+                write!(f, "announces Service Client {zenoh_key_expr}")
+            }
+            AnnouncedActionSrv { zenoh_key_expr, .. } => {
+                write!(f, "announces Action Server {zenoh_key_expr}")
+            }
+            AnnouncedActionCli { zenoh_key_expr, .. } => {
+                write!(f, "announces Action Client {zenoh_key_expr}")
+            }
+            RetiredMsgPub { zenoh_key_expr, .. } => write!(f, "retires Publisher {zenoh_key_expr}"),
+            RetiredMsgSub { zenoh_key_expr, .. } => {
+                write!(f, "retires Subscriber {zenoh_key_expr}")
+            }
+            RetiredServiceSrv { zenoh_key_expr, .. } => {
+                write!(f, "retires Service Server {zenoh_key_expr}")
+            }
+            RetiredServiceCli { zenoh_key_expr, .. } => {
+                write!(f, "retires Service Client {zenoh_key_expr}")
+            }
+            RetiredActionSrv { zenoh_key_expr, .. } => {
+                write!(f, "retires Action Server {zenoh_key_expr}")
+            }
+            RetiredActionCli { zenoh_key_expr, .. } => {
+                write!(f, "retires Action Client {zenoh_key_expr}")
+            }
+        }
+    }
+}
diff --git a/zenoh-plugin-ros2dds/src/gid.rs b/zenoh-plugin-ros2dds/src/gid.rs
new file mode 100644
index 0000000..9978631
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/gid.rs
@@ -0,0 +1,179 @@
+//
+// 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>
+//
+use serde::{Deserialize, Deserializer, Serialize, Serializer};
+use std::{fmt, ops::Deref, str::FromStr};
+
+#[derive(Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Hash)]
+pub struct Gid([u8; 16]);
+
+impl Gid {
+    pub const NOT_DISCOVERED: Gid = Gid([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);
+}
+
+impl Default for Gid {
+    fn default() -> Self {
+        Gid::NOT_DISCOVERED
+    }
+}
+
+impl Deref for Gid {
+    type Target = [u8; 16];
+
+    fn deref(&self) -> &Self::Target {
+        &self.0
+    }
+}
+
+impl From<[u8; 16]> for Gid {
+    fn from(key: [u8; 16]) -> Self {
+        Self(key)
+    }
+}
+
+impl From<&[u8; 16]> for Gid {
+    fn from(key: &[u8; 16]) -> Self {
+        Self(key.clone())
+    }
+}
+
+impl Serialize for Gid {
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: Serializer,
+    {
+        if serializer.is_human_readable() {
+            // serialize as an hexadecimal String
+            Serialize::serialize(&hex::encode(&self.0), serializer)
+        } else {
+            // serialize as a little-endian [u8; 16]
+            Serialize::serialize(&self.0, serializer)
+        }
+    }
+}
+
+impl<'de> Deserialize<'de> for Gid {
+    fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
+    where
+        D: Deserializer<'de>,
+    {
+        if deserializer.is_human_readable() {
+            // deserialize from an hexadecimal String
+            let s: &str = Deserialize::deserialize(deserializer)?;
+            let v = hex::decode(s).map_err(|e| {
+                serde::de::Error::custom(format!("Failed to decode gid {s} as hex: {e}"))
+            })?;
+            if v.len() == 16 {
+                Ok(TryInto::<&[u8; 16]>::try_into(&v[..16]).unwrap().into())
+            } else {
+                Err(serde::de::Error::custom(format!(
+                    "Failed to decode gid {s} as hex: not 16 bytes"
+                )))
+            }
+        } else {
+            // deserialize from a little-endian [u8; 16]
+            let bytes: [u8; 16] = Deserialize::deserialize(deserializer)?;
+            Ok(bytes.into())
+        }
+    }
+}
+
+impl fmt::Debug for Gid {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        if self == &Gid::NOT_DISCOVERED {
+            write!(f, "NOT_DISCOVERED")
+        } else {
+            let s = hex::encode(&self.0);
+            write!(f, "{s}")
+        }
+    }
+}
+
+impl fmt::Display for Gid {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        fmt::Debug::fmt(self, f)
+    }
+}
+
+impl FromStr for Gid {
+    type Err = String;
+
+    fn from_str(s: &str) -> Result<Self, Self::Err> {
+        let mut bytes = [0u8; 16];
+        hex::decode_to_slice(s, &mut bytes).map_err(|e: hex::FromHexError| e.to_string())?;
+        Ok(bytes.into())
+    }
+}
+
+mod tests {
+
+    #[test]
+    fn test_gid() {
+        use crate::gid::Gid;
+        use std::ops::Deref;
+        use std::str::FromStr;
+
+        let str1 = "01106c8324a780d1b9e62c8f000001c1";
+        let bytes1 = [
+            0x01u8, 0x10, 0x6c, 0x83, 0x24, 0xa7, 0x80, 0xd1, 0xb9, 0xe6, 0x2c, 0x8f, 0x00, 0x00,
+            0x01, 0xc1,
+        ];
+
+        assert_eq!(Gid::from(bytes1.clone()).deref(), &bytes1);
+        assert_eq!(Gid::from(&bytes1).deref(), &bytes1);
+        assert_eq!(Gid::from_str(str1).unwrap().deref(), &bytes1);
+        assert_eq!(Gid::from(bytes1.clone()).to_string(), str1);
+        assert_eq!(Gid::from(&bytes1).to_string(), str1);
+        assert_eq!(Gid::from_str(str1).unwrap().to_string(), str1);
+
+        let str2: &str = "01106c8324a780d1b9e62c8f00000e04";
+        assert!(Gid::from_str(str2).unwrap() > Gid::from_str(str1).unwrap());
+
+        assert!(matches!(
+            Gid::from_str("01106c8324a780d1b9e62c8f00000e04aaaaaaaa"),
+            Err(_)
+        ));
+    }
+
+    #[test]
+    fn test_serde() {
+        use crate::gid::Gid;
+
+        let bytes = [
+            0x01u8, 0x10, 0x6c, 0x83, 0x24, 0xa7, 0x80, 0xd1, 0xb9, 0xe6, 0x2c, 0x8f, 0x00, 0x00,
+            0x01, 0xc1,
+        ];
+        let json: &str = "\"01106c8324a780d1b9e62c8f000001c1\"";
+
+        assert_eq!(serde_json::to_string(&Gid::from(&bytes)).unwrap(), json);
+        assert_eq!(
+            serde_json::from_str::<Gid>(json).unwrap(),
+            Gid::from(&bytes)
+        );
+
+        // Check that endianness doesn't impact CDR serialization (note: 4 bytes CDR header ignored in comparison)
+        assert_eq!(
+            &cdr::serialize::<_, _, cdr::CdrBe>(&Gid::from(&bytes), cdr::Infinite).unwrap()[4..],
+            &bytes
+        );
+        assert_eq!(
+            &cdr::serialize::<_, _, cdr::CdrLe>(&Gid::from(&bytes), cdr::Infinite).unwrap()[4..],
+            &bytes
+        );
+        let cdr = [
+            0x0u8, 0, 1, 0, 0x01, 0x10, 0x6c, 0x83, 0x24, 0xa7, 0x80, 0xd1, 0xb9, 0xe6, 0x2c, 0x8f,
+            0x00, 0x00, 0x01, 0xc1,
+        ];
+        assert_eq!(cdr::deserialize::<Gid>(&cdr).unwrap(), Gid::from(&bytes));
+    }
+}
diff --git a/zenoh-plugin-ros2dds/src/lib.rs b/zenoh-plugin-ros2dds/src/lib.rs
new file mode 100644
index 0000000..ff312cf
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/lib.rs
@@ -0,0 +1,578 @@
+//
+// 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>
+//
+use async_trait::async_trait;
+use cyclors::*;
+use events::ROS2AnnouncementEvent;
+use flume::{unbounded, Receiver, Sender};
+use futures::select;
+use git_version::git_version;
+use serde::ser::SerializeStruct;
+use serde::{Serialize, Serializer};
+use std::collections::HashMap;
+use std::env;
+use std::mem::ManuallyDrop;
+use std::sync::Arc;
+use zenoh::liveliness::LivelinessToken;
+use zenoh::plugins::{Plugin, RunningPluginTrait, Runtime, ZenohPlugin};
+use zenoh::prelude::r#async::AsyncResolve;
+use zenoh::prelude::*;
+use zenoh::queryable::Query;
+use zenoh::Result as ZResult;
+use zenoh::Session;
+use zenoh_core::{bail, zerror};
+use zenoh_ext::SubscriberBuilderExt;
+use zenoh_util::Timed;
+
+pub mod config;
+mod dds_discovery;
+mod discovered_entities;
+mod discovery_mgr;
+mod events;
+mod gid;
+mod liveliness_mgt;
+mod node_info;
+mod qos_helpers;
+mod ros2_utils;
+mod ros_discovery;
+mod route_publisher;
+mod route_subscriber;
+mod routes_mgr;
+use config::Config;
+use dds_discovery::*;
+
+use crate::discovery_mgr::DiscoveryMgr;
+use crate::events::ROS2DiscoveryEvent;
+use crate::liveliness_mgt::{
+    ke_liveliness_all, ke_liveliness_plugin, parse_ke_liveliness_pub, parse_ke_liveliness_sub,
+};
+use crate::ros_discovery::RosDiscoveryInfoMgr;
+use crate::routes_mgr::RoutesMgr;
+
+pub const GIT_VERSION: &str = git_version!(prefix = "v", cargo_prefix = "v");
+
+#[macro_export]
+macro_rules! ke_for_sure {
+    ($val:expr) => {
+        unsafe { keyexpr::from_str_unchecked($val) }
+    };
+}
+
+lazy_static::lazy_static!(
+    pub static ref LONG_VERSION: String = format!("{} built with {}", GIT_VERSION, env!("RUSTC_VERSION"));
+    pub static ref VERSION_JSON_VALUE: Value =
+        serde_json::Value::String(LONG_VERSION.clone()).into();
+    static ref LOG_PAYLOAD: bool = std::env::var("Z_LOG_PAYLOAD").is_ok();
+
+    static ref KE_ANY_1_SEGMENT: &'static keyexpr = ke_for_sure!("*");
+    static ref KE_ANY_N_SEGMENT: &'static keyexpr = ke_for_sure!("**");
+
+    static ref KE_PREFIX_PUB_CACHE: &'static keyexpr = ke_for_sure!("@ros2_pub_cache");
+);
+
+zenoh::kedefine!(
+    // Admin space key expressions of plugin's version
+    pub ke_admin_version: "${plugin_status_key:**}/__version__",
+
+    // Admin prefix of this bridge
+    pub ke_admin_prefix: "@ros2/${plugin_id:*}/",
+);
+
+// CycloneDDS' localhost-only: set network interface address (shortened form of config would be
+// possible, too, but I think it is clearer to spell it out completely).
+// Empty configuration fragments are ignored, so it is safe to unconditionally append a comma.
+const CYCLONEDDS_CONFIG_LOCALHOST_ONLY: &str = r#"<CycloneDDS><Domain><General><Interfaces><NetworkInterface address="127.0.0.1" multicast="true"/></Interfaces></General></Domain></CycloneDDS>,"#;
+
+// CycloneDDS' enable-shm: enable usage of Iceoryx shared memory
+#[cfg(feature = "dds_shm")]
+const CYCLONEDDS_CONFIG_ENABLE_SHM: &str = r#"<CycloneDDS><Domain><SharedMemory><Enable>true</Enable></SharedMemory></Domain></CycloneDDS>,"#;
+
+// interval between each read/write on "ros_discovery_info" topic
+const ROS_DISCOVERY_INFO_POLL_INTERVAL_MS: u64 = 100;
+const ROS_DISCOVERY_INFO_PUSH_INTERVAL_MS: u64 = 100;
+
+zenoh_plugin_trait::declare_plugin!(ROS2Plugin);
+
+#[allow(clippy::upper_case_acronyms)]
+pub struct ROS2Plugin;
+
+impl ZenohPlugin for ROS2Plugin {}
+impl Plugin for ROS2Plugin {
+    type StartArgs = Runtime;
+    type RunningPlugin = zenoh::plugins::RunningPlugin;
+
+    const STATIC_NAME: &'static str = "zenoh-plugin-ros2dds";
+
+    fn start(name: &str, runtime: &Self::StartArgs) -> ZResult<zenoh::plugins::RunningPlugin> {
+        // Try to initiate login.
+        // Required in case of dynamic lib, otherwise no logs.
+        // But cannot be done twice in case of static link.
+        let _ = env_logger::try_init();
+
+        let runtime_conf = runtime.config.lock();
+        let plugin_conf = runtime_conf
+            .plugin(name)
+            .ok_or_else(|| zerror!("Plugin `{}`: missing config", name))?;
+        let config: Config = serde_json::from_value(plugin_conf.clone())
+            .map_err(|e| zerror!("Plugin `{}` configuration error: {}", name, e))?;
+        async_std::task::spawn(run(runtime.clone(), config));
+        Ok(Box::new(ROS2Plugin))
+    }
+}
+
+impl RunningPluginTrait for ROS2Plugin {
+    fn config_checker(&self) -> zenoh::plugins::ValidationFunction {
+        Arc::new(|_, _, _| bail!("ROS2Plugin does not support hot configuration changes."))
+    }
+
+    fn adminspace_getter<'a>(
+        &'a self,
+        selector: &'a Selector<'a>,
+        plugin_status_key: &str,
+    ) -> ZResult<Vec<zenoh::plugins::Response>> {
+        let mut responses = Vec::new();
+        let version_key = [plugin_status_key, "/__version__"].concat();
+        if selector.key_expr.intersects(ke_for_sure!(&version_key)) {
+            responses.push(zenoh::plugins::Response::new(
+                version_key,
+                GIT_VERSION.into(),
+            ));
+        }
+        Ok(responses)
+    }
+}
+
+pub async fn run(runtime: Runtime, config: Config) {
+    // Try to initiate login.
+    // Required in case of dynamic lib, otherwise no logs.
+    // But cannot be done twice in case of static link.
+    let _ = env_logger::try_init();
+    log::debug!("ROS2 plugin {}", LONG_VERSION.as_str());
+    log::info!("ROS2 plugin {:?}", config);
+
+    // Check config validity
+    if !regex::Regex::new("/[A-Za-z0-9_/]*")
+        .unwrap()
+        .is_match(&config.namespace)
+    {
+        log::error!(
+            r#"Configuration error: invalid namespace "{}" must contain only alphanumeric, '_' or '/' characters and start with '/'"#,
+            config.namespace
+        );
+        return;
+    }
+    if !regex::Regex::new("[A-Za-z0-9_]+")
+        .unwrap()
+        .is_match(&config.nodename)
+    {
+        log::error!(
+            r#"Configuration error: invalid nodename "{}" must contain only alphanumeric or '_' characters"#,
+            config.nodename
+        );
+        return;
+    }
+
+    // open zenoh-net Session
+    let zsession = match zenoh::init(runtime).res_async().await {
+        Ok(session) => Arc::new(session),
+        Err(e) => {
+            log::error!("Unable to init zenoh session for DDS plugin : {:?}", e);
+            return;
+        }
+    };
+
+    let plugin_id = if let Some(ref id) = config.id {
+        if id.contains('/') {
+            log::error!("The 'id' configuration must not contain any '/' character");
+            return;
+        }
+        id.clone()
+    } else {
+        zsession.zid().into_keyexpr().to_owned()
+    };
+
+    // Declare plugin's liveliness token
+    let ke_liveliness =
+        zenoh::keformat!(ke_liveliness_plugin::formatter(), plugin_id = &plugin_id).unwrap();
+    let member = match zsession
+        .liveliness()
+        .declare_token(ke_liveliness)
+        .res_async()
+        .await
+    {
+        Ok(member) => member,
+        Err(e) => {
+            log::error!(
+                "Unable to declare liveliness token for DDS plugin : {:?}",
+                e
+            );
+            return;
+        }
+    };
+
+    // if "ros_localhost_only" is set, configure CycloneDDS to use only localhost interface
+    if config.ros_localhost_only {
+        env::set_var(
+            "CYCLONEDDS_URI",
+            format!(
+                "{}{}",
+                CYCLONEDDS_CONFIG_LOCALHOST_ONLY,
+                env::var("CYCLONEDDS_URI").unwrap_or_default()
+            ),
+        );
+    }
+
+    // if "enable_shm" is set, configure CycloneDDS to use Iceoryx shared memory
+    #[cfg(feature = "dds_shm")]
+    {
+        if config.shm_enabled {
+            env::set_var(
+                "CYCLONEDDS_URI",
+                format!(
+                    "{}{}",
+                    CYCLONEDDS_CONFIG_ENABLE_SHM,
+                    env::var("CYCLONEDDS_URI").unwrap_or_default()
+                ),
+            );
+        }
+    }
+
+    // create DDS Participant
+    log::debug!(
+        "Create DDS Participant on domain {} with CYCLONEDDS_URI='{}'",
+        config.domain,
+        env::var("CYCLONEDDS_URI").unwrap_or_default()
+    );
+    let participant =
+        unsafe { dds_create_participant(config.domain, std::ptr::null(), std::ptr::null()) };
+    log::debug!(
+        "ROS2 plugin {} using DDS Participant {} created",
+        plugin_id,
+        get_guid(&participant).unwrap()
+    );
+
+    let mut ros2_plugin = ROS2PluginRuntime {
+        config: Arc::new(config),
+        zsession: &zsession,
+        participant,
+        _member: member,
+        plugin_id,
+        admin_space: HashMap::<OwnedKeyExpr, AdminRef>::new(),
+    };
+
+    ros2_plugin.run().await;
+}
+
+pub struct ROS2PluginRuntime<'a> {
+    config: Arc<Config>,
+    // Note: &'a Arc<Session> here to keep the ownership of Session outside this struct
+    // and be able to store the publishers/subscribers it creates in this same struct.
+    zsession: &'a Arc<Session>,
+    participant: dds_entity_t,
+    _member: LivelinessToken<'a>,
+    plugin_id: OwnedKeyExpr,
+    // admin space: index is the admin_keyexpr (relative to admin_prefix)
+    // value is the JSon string to return to queries.
+    admin_space: HashMap<OwnedKeyExpr, AdminRef>,
+}
+
+impl Serialize for ROS2PluginRuntime<'_> {
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: Serializer,
+    {
+        // return the plugin's config as a JSON struct
+        let mut s = serializer.serialize_struct("dds", 3)?;
+        s.serialize_field("domain", &self.config.domain)?;
+        s.end()
+    }
+}
+
+// An reference used in admin space to point to a struct (DdsEntity or Route) stored in another map
+#[derive(Debug)]
+enum AdminRef {
+    Config,
+    Version,
+}
+
+impl<'a> ROS2PluginRuntime<'a> {
+    async fn run(&mut self) {
+        // Subscribe to all liveliness info from other ROS2 plugins
+        let ke_liveliness_all = zenoh::keformat!(
+            ke_liveliness_all::formatter(),
+            plugin_id = "*",
+            remaining = "**"
+        )
+        .unwrap();
+        let liveliness_subscriber = self
+            .zsession
+            .liveliness()
+            .declare_subscriber(ke_liveliness_all)
+            .querying()
+            .with(zenoh::handlers::DefaultHandler {})
+            .res_async()
+            .await
+            .expect("Failed to create Liveliness Subscriber");
+
+        // declare admin space queryable
+        let admin_prefix =
+            zenoh::keformat!(ke_admin_prefix::formatter(), plugin_id = &self.plugin_id).unwrap();
+        let admin_keyexpr_expr = (&admin_prefix) / *KE_ANY_N_SEGMENT;
+        log::debug!("Declare admin space on {}", admin_keyexpr_expr);
+        let admin_queryable = self
+            .zsession
+            .declare_queryable(admin_keyexpr_expr)
+            .res_async()
+            .await
+            .expect("Failed to create AdminSpace queryable");
+
+        // add plugin's config and version in admin space
+        self.admin_space
+            .insert(&admin_prefix / ke_for_sure!("config"), AdminRef::Config);
+        self.admin_space
+            .insert(&admin_prefix / ke_for_sure!("version"), AdminRef::Version);
+
+        // Create and start the RosDiscoveryInfoMgr (managing ros_discovery_info topic)
+        let ros_discovery_mgr = Arc::new(
+            RosDiscoveryInfoMgr::new(
+                self.participant,
+                &self.config.namespace,
+                &self.config.nodename,
+            )
+            .expect("Failed to create RosDiscoveryInfoMgr"),
+        );
+        ros_discovery_mgr.run().await;
+
+        // Create and start DiscoveryManager
+        let (tx, discovery_rcv): (Sender<ROS2DiscoveryEvent>, Receiver<ROS2DiscoveryEvent>) =
+            unbounded();
+        let mut discovery_mgr = DiscoveryMgr::create(self.participant, ros_discovery_mgr.clone());
+        discovery_mgr.run(tx).await;
+
+        // Create RoutesManager
+        let mut routes_mgr = RoutesMgr::new(
+            self.plugin_id.clone(),
+            self.config.clone(),
+            self.zsession,
+            self.participant,
+            discovery_mgr.discovered_entities.clone(),
+            ros_discovery_mgr,
+            admin_prefix.clone(),
+        );
+
+        loop {
+            select!(
+                evt = discovery_rcv.recv_async() => {
+                    match evt {
+                        Ok(evt) => {
+                            if self.is_allowed(&evt) {
+                                log::info!("{evt} - Allowed");
+                                // pass ROS2DiscoveryEvent to RoutesMgr
+                                if let Err(e) = routes_mgr.on_ros_discovery_event(evt).await {
+                                    log::warn!("Error updating route: {e}");
+                                }
+                            } else {
+                                log::info!("{evt} - Denied per config");
+                            }
+                        }
+                        Err(e) => log::error!("Internal Error: received from DiscoveryMgr: {e}")
+                    }
+                },
+
+                liveliness_event = liveliness_subscriber.recv_async() => {
+                    match liveliness_event
+                    {
+                        Ok(evt) => {
+                            let ke = evt.key_expr.as_keyexpr();
+                            if let Ok(parsed) = ke_liveliness_all::parse(ke) {
+                                let plugin_id = parsed.plugin_id().unwrap();
+                                if plugin_id == self.plugin_id.as_ref() {
+                                    // ignore own announcements
+                                    continue;
+                                }
+                                match (parsed.remaining(), evt.kind)  {
+                                    // New remote bridge detected
+                                    (None, SampleKind::Put) => {
+                                        log::info!("New ROS 2 bridge detected: {}", plugin_id);
+                                        // make all routes for a TRANSIENT_LOCAL Subscriber to query historical publications from this new plugin
+                                        routes_mgr.query_historical_all_publications(plugin_id).await;
+                                    }
+                                    // New remote bridge left
+                                    (None, SampleKind::Delete) => log::info!("Remote ROS 2 bridge left: {}", plugin_id),
+                                    // the liveliness token corresponds to a ROS2 announcement
+                                    (Some(remaining), _) => {
+                                        // parse it and pass ROS2AnnouncementEvent to RoutesMgr
+                                        match self.parse_announcement_event(ke, &remaining.as_str()[..3], evt.kind) {
+                                            Ok(evt) => {
+                                                log::info!("Remote bridge {plugin_id} {evt}");
+                                                routes_mgr.on_ros_announcement_event(evt).await
+                                                    .unwrap_or_else(|e| log::warn!("Error treating announcement event: {e}"));
+                                            },
+                                            Err(e) =>
+                                                log::warn!("Received unexpected liveliness key expression '{ke}': {e}")
+                                        }
+                                    }
+                                }
+                            } else {
+                                log::warn!("Received unexpected liveliness key expression '{ke}'");
+                            }
+                        },
+                        Err(e) => log::warn!("Error receiving liveliness event: {e}")
+                    }
+                },
+
+                get_request = admin_queryable.recv_async() => {
+                    if let Ok(query) = get_request {
+                        self.treat_admin_query(&query).await;
+                        // pass query to discovery_mgr
+                        discovery_mgr.treat_admin_query(&query, &admin_prefix);
+                        // pass query to discovery_mgr
+                        routes_mgr.treat_admin_query(&query).await;
+                    } else {
+                        log::warn!("AdminSpace queryable was closed!");
+                    }
+                }
+            )
+        }
+    }
+
+    fn parse_announcement_event(
+        &self,
+        liveliness_ke: &keyexpr,
+        iface_kind: &str,
+        sample_kind: SampleKind,
+    ) -> Result<ROS2AnnouncementEvent, String> {
+        use ROS2AnnouncementEvent::*;
+        log::debug!("Received liveliness event: {sample_kind} on {liveliness_ke}");
+        match (iface_kind, sample_kind) {
+            ("MP/", SampleKind::Put) => parse_ke_liveliness_pub(liveliness_ke)
+                .map_err(|e| format!("Received invalid liveliness token: {e}"))
+                .map(
+                    |(plugin_id, zenoh_key_expr, ros2_type, keyless, writer_qos)| AnnouncedMsgPub {
+                        plugin_id,
+                        zenoh_key_expr,
+                        ros2_type,
+                        keyless,
+                        writer_qos,
+                    },
+                ),
+            ("MP/", SampleKind::Delete) => parse_ke_liveliness_pub(liveliness_ke)
+                .map_err(|e| format!("Received invalid liveliness token: {e}"))
+                .map(|(plugin_id, zenoh_key_expr, ..)| RetiredMsgPub {
+                    plugin_id,
+                    zenoh_key_expr,
+                }),
+            ("MS/", SampleKind::Put) => parse_ke_liveliness_sub(liveliness_ke)
+                .map_err(|e| format!("Received invalid liveliness token: {e}"))
+                .map(
+                    |(plugin_id, zenoh_key_expr, ros2_type, keyless, reader_qos)| AnnouncedMsgSub {
+                        plugin_id,
+                        zenoh_key_expr,
+                        ros2_type,
+                        keyless,
+                        reader_qos,
+                    },
+                ),
+            ("MS/", SampleKind::Delete) => parse_ke_liveliness_sub(liveliness_ke)
+                .map_err(|e| format!("Received invalid liveliness token: {e}"))
+                .map(|(plugin_id, zenoh_key_expr, ..)| RetiredMsgSub {
+                    plugin_id,
+                    zenoh_key_expr,
+                }),
+            _ => Err(format!("invalid ROS2 interface kind: {iface_kind}")),
+        }
+    }
+
+    fn is_allowed(&self, evt: &ROS2DiscoveryEvent) -> bool {
+        if let Some(allowance) = &self.config.allowance {
+            use ROS2DiscoveryEvent::*;
+            match evt {
+                DiscoveredMsgPub(_, iface) => allowance.is_publisher_allowed(&iface.name),
+                DiscoveredMsgSub(_, iface) => allowance.is_subscriber_allowed(&iface.name),
+                DiscoveredServiceSrv(_, iface) => allowance.is_service_srv_allowed(&iface.name),
+                DiscoveredServiceCli(_, iface) => allowance.is_service_cli_allowed(&iface.name),
+                DiscoveredActionSrv(_, iface) => allowance.is_action_srv_allowed(&iface.name),
+                DiscoveredActionCli(_, iface) => allowance.is_action_cli_allowed(&iface.name),
+                _ => true, // only Undiscovered events remain - always allow them (in case dynamic change of config is supported)
+            }
+        } else {
+            // no allow/deny configured => allow all
+            true
+        }
+    }
+
+    async fn treat_admin_query(&self, query: &Query) {
+        let query_ke = query.selector().key_expr;
+        if query_ke.is_wild() {
+            // iterate over all admin space to find matching keys and reply for each
+            for (ke, admin_ref) in self.admin_space.iter() {
+                if query_ke.intersects(ke) {
+                    self.send_admin_reply(query, ke, admin_ref).await;
+                }
+            }
+        } else {
+            // sub_ke correspond to 1 key - just get it and reply
+            let own_ke: OwnedKeyExpr = query_ke.into();
+            if let Some(admin_ref) = self.admin_space.get(&own_ke) {
+                self.send_admin_reply(query, &own_ke, admin_ref).await;
+            }
+        }
+    }
+
+    async fn send_admin_reply(&self, query: &Query, key_expr: &keyexpr, admin_ref: &AdminRef) {
+        let value: Value = match admin_ref {
+            AdminRef::Version => VERSION_JSON_VALUE.clone(),
+            AdminRef::Config => match serde_json::to_value(self) {
+                Ok(v) => v.into(),
+                Err(e) => {
+                    log::error!("INTERNAL ERROR serializing config as JSON: {}", e);
+                    return;
+                }
+            },
+        };
+        if let Err(e) = query
+            .reply(Ok(Sample::new(key_expr.to_owned(), value)))
+            .res_async()
+            .await
+        {
+            log::warn!("Error replying to admin query {:?}: {}", query, e);
+        }
+    }
+}
+
+//TODO replace when stable https://github.com/rust-lang/rust/issues/65816
+#[inline]
+pub fn vec_into_raw_parts<T>(v: Vec<T>) -> (*mut T, usize, usize) {
+    let mut me = ManuallyDrop::new(v);
+    (me.as_mut_ptr(), me.len(), me.capacity())
+}
+
+struct ChannelEvent {
+    tx: Sender<()>,
+}
+
+#[async_trait]
+impl Timed for ChannelEvent {
+    async fn run(&mut self) {
+        if self.tx.send(()).is_err() {
+            log::warn!("Error sending periodic timer notification on channel");
+        };
+    }
+}
+
+pub(crate) fn serialize_option_as_bool<S, T>(opt: &Option<T>, s: S) -> Result<S::Ok, S::Error>
+where
+    S: Serializer,
+{
+    s.serialize_bool(opt.is_some())
+}
diff --git a/zenoh-plugin-ros2dds/src/liveliness_mgt.rs b/zenoh-plugin-ros2dds/src/liveliness_mgt.rs
new file mode 100644
index 0000000..b5c76f8
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/liveliness_mgt.rs
@@ -0,0 +1,257 @@
+//
+// 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>
+//
+
+use cyclors::qos::{
+    Durability, DurabilityKind, History, HistoryKind, Qos, Reliability, ReliabilityKind,
+    DDS_100MS_DURATION,
+};
+use zenoh::prelude::{keyexpr, OwnedKeyExpr};
+
+const SLASH_REPLACEMSNT_CHAR: &str = "§";
+
+zenoh::kedefine!(
+    // Liveliness tokens key expressions
+    pub ke_liveliness_all: "@ros2_lv/${plugin_id:*}/${remaining:**}",
+    pub ke_liveliness_plugin: "@ros2_lv/${plugin_id:*}",
+    pub(crate) ke_liveliness_pub: "@ros2_lv/${plugin_id:*}/MP/${ke:*}/${typ:*}/${qos_ke:*}",
+    pub(crate) ke_liveliness_sub: "@ros2_lv/${plugin_id:*}/MS/${ke:*}/${typ:*}/${qos_ke:*}",
+);
+
+pub(crate) fn new_ke_liveliness_pub(
+    plugin_id: &keyexpr,
+    zenoh_key_expr: &keyexpr,
+    ros2_type: &str,
+    keyless: bool,
+    qos: &Qos,
+) -> Result<OwnedKeyExpr, String> {
+    let ke = escape_slashes(zenoh_key_expr);
+    let typ = escape_slashes(ros2_type);
+    let qos_ke = qos_to_key_expr(keyless, qos);
+    zenoh::keformat!(ke_liveliness_pub::formatter(), plugin_id, ke, typ, qos_ke)
+        .map_err(|e| e.to_string())
+}
+
+pub(crate) fn parse_ke_liveliness_pub(
+    ke: &keyexpr,
+) -> Result<(OwnedKeyExpr, OwnedKeyExpr, String, bool, Qos), String> {
+    let parsed = ke_liveliness_pub::parse(ke)
+        .map_err(|e| format!("failed to parse liveliness keyexpr {ke}: {e}"))?;
+    let plugin_id = parsed
+        .plugin_id()
+        .map(ToOwned::to_owned)
+        .ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no plugin_id"))?;
+    let zenoh_key_expr = parsed
+        .ke()
+        .map(|ke| unescape_slashes(ke))
+        .ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no ke"))?;
+    let ros2_type = parsed
+        .typ()
+        .map(|ke| unescape_slashes(ke))
+        .ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))?;
+    let (keyless, qos) = parsed
+        .qos_ke()
+        .ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))
+        .and_then(|ke| key_expr_to_qos(ke))
+        .map_err(|e| format!("failed to parse liveliness keyexpr {ke}: {e}"))?;
+    Ok((
+        plugin_id,
+        zenoh_key_expr,
+        ros2_type.to_string(),
+        keyless,
+        qos,
+    ))
+}
+
+pub(crate) fn new_ke_liveliness_sub(
+    plugin_id: &keyexpr,
+    zenoh_key_expr: &keyexpr,
+    ros2_type: &str,
+    keyless: bool,
+    qos: &Qos,
+) -> Result<OwnedKeyExpr, String> {
+    let ke = escape_slashes(zenoh_key_expr);
+    let typ = escape_slashes(ros2_type);
+    let qos_ke = qos_to_key_expr(keyless, qos);
+    zenoh::keformat!(ke_liveliness_sub::formatter(), plugin_id, ke, typ, qos_ke)
+        .map_err(|e| e.to_string())
+}
+
+pub(crate) fn parse_ke_liveliness_sub(
+    ke: &keyexpr,
+) -> Result<(OwnedKeyExpr, OwnedKeyExpr, String, bool, Qos), String> {
+    let parsed = ke_liveliness_sub::parse(ke)
+        .map_err(|e| format!("failed to parse liveliness keyexpr {ke}: {e}"))?;
+    let plugin_id = parsed
+        .plugin_id()
+        .map(ToOwned::to_owned)
+        .ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no plugin_id"))?;
+    let zenoh_key_expr = parsed
+        .ke()
+        .map(|ke| unescape_slashes(ke))
+        .ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no ke"))?;
+    let ros2_type = parsed
+        .typ()
+        .map(|ke| unescape_slashes(ke))
+        .ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))?;
+    let (keyless, qos) = parsed
+        .qos_ke()
+        .ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))
+        .and_then(|ke| key_expr_to_qos(ke))
+        .map_err(|e| format!("failed to parse liveliness keyexpr {ke}: {e}"))?;
+    Ok((
+        plugin_id,
+        zenoh_key_expr,
+        ros2_type.to_string(),
+        keyless,
+        qos,
+    ))
+}
+
+fn escape_slashes(s: &str) -> OwnedKeyExpr {
+    OwnedKeyExpr::try_from(s.replace('/', SLASH_REPLACEMSNT_CHAR)).unwrap()
+}
+
+fn unescape_slashes(ke: &keyexpr) -> OwnedKeyExpr {
+    OwnedKeyExpr::try_from(ke.as_str().replace(SLASH_REPLACEMSNT_CHAR, "/")).unwrap()
+}
+
+// Serialize QoS as a KeyExpr-compatible string (for usage in liveliness keyexpr)
+// NOTE: only significant Qos for ROS2 are serialized
+// See https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Quality-of-Service-Settings.html
+//
+// format: "<keyless>:<ReliabilityKind>:<DurabilityKind>:<HistoryKid>,<HistoryDepth>"
+// where each element is "" if default QoS, or an integer in case of enum, and 'K' for !keyless
+pub fn qos_to_key_expr(keyless: bool, qos: &Qos) -> OwnedKeyExpr {
+    use std::io::Write;
+    let mut w: Vec<u8> = Vec::new();
+
+    if !keyless {
+        write!(w, "K").unwrap();
+    }
+    write!(w, ":").unwrap();
+    if let Some(Reliability { kind, .. }) = &qos.reliability {
+        write!(&mut w, "{}", *kind as isize).unwrap();
+    }
+    write!(w, ":").unwrap();
+    if let Some(Durability { kind }) = &qos.durability {
+        write!(&mut w, "{}", *kind as isize).unwrap();
+    }
+    write!(w, ":").unwrap();
+    if let Some(History { kind, depth }) = &qos.history {
+        write!(&mut w, "{},{}", *kind as isize, depth).unwrap();
+    }
+
+    unsafe {
+        let s: String = String::from_utf8_unchecked(w);
+        OwnedKeyExpr::from_string_unchecked(s)
+    }
+}
+
+fn key_expr_to_qos(ke: &keyexpr) -> Result<(bool, Qos), String> {
+    let elts: Vec<&str> = ke.split(':').collect();
+    if elts.len() != 4 {
+        return Err(format!("Internal Error: unexpected QoS expression: '{ke}' - 4 elements between : were expected"));
+    }
+    let mut qos = Qos::default();
+    let keyless = elts[0].is_empty();
+    if !elts[1].is_empty() {
+        match elts[1].parse::<cyclors::dds_reliability_kind_t>() {
+            Ok(i) => qos.reliability = Some(Reliability {kind: ReliabilityKind::from(&i), max_blocking_time: DDS_100MS_DURATION }),
+            Err(_) => return Err(format!("Internal Error: unexpected QoS expression: '{ke}' - failed to parse Reliability in 2nd element")),
+        }
+    }
+    if !elts[2].is_empty() {
+        match elts[2].parse::<cyclors::dds_durability_kind_t>() {
+            Ok(i) => qos.durability = Some(Durability {kind: DurabilityKind::from(&i)}),
+            Err(_) => return Err(format!("Internal Error: unexpected QoS expression: '{ke}' - failed to parse Durability in 3d element")),
+        }
+    }
+    if !elts[3].is_empty() {
+        match elts[3].split_once(',').map(|(s1, s2)|
+            (
+                s1.parse::<cyclors::dds_history_kind_t>(),
+                s2.parse::<i32>(),
+            )
+        ) {
+            Some((Ok(k), Ok(depth))) => qos.history = Some(History {kind: HistoryKind::from(&k), depth }),
+            _ => return Err(format!("Internal Error: unexpected QoS expression: '{ke}' - failed to parse History in 4th element")),
+        }
+    }
+
+    Ok((keyless, qos))
+}
+
+mod tests {
+    #[test]
+    fn test_qos_key_expr() {
+        use super::*;
+
+        let mut q = Qos::default();
+        assert_eq!(qos_to_key_expr(true, &q).to_string(), ":::");
+        assert_eq!(
+            key_expr_to_qos(&qos_to_key_expr(true, &q)),
+            Ok((true, q.clone()))
+        );
+        assert_eq!(qos_to_key_expr(false, &q).to_string(), "K:::");
+        assert_eq!(
+            key_expr_to_qos(&qos_to_key_expr(false, &q)),
+            Ok((false, q.clone()))
+        );
+
+        q.reliability = Some(Reliability {
+            kind: ReliabilityKind::RELIABLE,
+            max_blocking_time: DDS_100MS_DURATION,
+        });
+        assert_eq!(
+            qos_to_key_expr(true, &q).to_string(),
+            format!(":{}::", ReliabilityKind::RELIABLE as u8)
+        );
+        assert_eq!(
+            key_expr_to_qos(&qos_to_key_expr(true, &q)),
+            Ok((true, q.clone()))
+        );
+        assert_eq!(
+            key_expr_to_qos(&qos_to_key_expr(true, &q)),
+            Ok((true, q.clone()))
+        );
+        q.reliability = None;
+
+        q.durability = Some(Durability {
+            kind: DurabilityKind::TRANSIENT_LOCAL,
+        });
+        assert_eq!(
+            qos_to_key_expr(true, &q).to_string(),
+            format!("::{}:", DurabilityKind::TRANSIENT_LOCAL as u8)
+        );
+        assert_eq!(
+            key_expr_to_qos(&qos_to_key_expr(true, &q)),
+            Ok((true, q.clone()))
+        );
+        q.durability = None;
+
+        q.history = Some(History {
+            kind: HistoryKind::KEEP_LAST,
+            depth: 3,
+        });
+        assert_eq!(
+            qos_to_key_expr(true, &q).to_string(),
+            format!(":::{},3", HistoryKind::KEEP_LAST as u8)
+        );
+        assert_eq!(
+            key_expr_to_qos(&qos_to_key_expr(true, &q)),
+            Ok((true, q.clone()))
+        );
+        q.reliability = None;
+    }
+}
diff --git a/zenoh-plugin-ros2dds/src/node_info.rs b/zenoh-plugin-ros2dds/src/node_info.rs
new file mode 100644
index 0000000..427f133
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/node_info.rs
@@ -0,0 +1,1868 @@
+//
+// 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>
+//
+use serde::ser::SerializeSeq;
+use serde::{Serialize, Serializer};
+use std::collections::hash_map::Entry;
+use std::collections::HashMap;
+use std::ops::Range;
+use zenoh::prelude::{keyexpr, KeyExpr};
+
+use crate::dds_discovery::DdsEntity;
+use crate::events::ROS2DiscoveryEvent;
+use crate::gid::Gid;
+use crate::ke_for_sure;
+use crate::ros2_utils::*;
+
+#[derive(Clone, Debug, Serialize)]
+pub struct MsgPub {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub typ: String,
+    #[serde(skip)]
+    pub writer: Gid,
+}
+
+impl MsgPub {
+    pub fn create(name: String, typ: String, writer: Gid) -> Result<MsgPub, String> {
+        check_ros_name(&name)?;
+        Ok(MsgPub { name, typ, writer })
+    }
+
+    pub fn name_as_keyexpr(&self) -> &keyexpr {
+        ke_for_sure!(&self.name[1..])
+    }
+}
+
+impl std::fmt::Display for MsgPub {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "Publisher {}: {}", self.name, self.typ)?;
+        Ok(())
+    }
+}
+
+#[derive(Clone, Debug, Serialize)]
+pub struct MsgSub {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub typ: String,
+    #[serde(skip)]
+    pub reader: Gid,
+}
+
+impl MsgSub {
+    pub fn create(name: String, typ: String, reader: Gid) -> Result<MsgSub, String> {
+        check_ros_name(&name)?;
+        Ok(MsgSub { name, typ, reader })
+    }
+
+    pub fn name_as_keyexpr(&self) -> &keyexpr {
+        ke_for_sure!(&self.name[1..])
+    }
+}
+
+impl std::fmt::Display for MsgSub {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "Subscriber {}: {}", self.name, self.typ)?;
+        Ok(())
+    }
+}
+
+#[derive(Clone, Copy, Default)]
+pub struct ServiceSrvEntities {
+    pub req_reader: Gid,
+    pub rep_writer: Gid,
+}
+
+impl ServiceSrvEntities {
+    #[inline]
+    pub fn is_complete(&self) -> bool {
+        self.req_reader != Gid::NOT_DISCOVERED && self.rep_writer != Gid::NOT_DISCOVERED
+    }
+}
+
+impl std::fmt::Debug for ServiceSrvEntities {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(
+            f,
+            "{{reqR:{:?}, repW:{:?}}}",
+            self.req_reader, self.rep_writer
+        )?;
+        Ok(())
+    }
+}
+
+#[derive(Clone, Debug, Serialize)]
+pub struct ServiceSrv {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub typ: String,
+    #[serde(skip)]
+    pub entities: ServiceSrvEntities,
+}
+
+impl ServiceSrv {
+    pub fn create(name: String, typ: String) -> Result<ServiceSrv, String> {
+        check_ros_name(&name)?;
+        Ok(ServiceSrv {
+            name,
+            typ,
+            entities: ServiceSrvEntities::default(),
+        })
+    }
+
+    pub fn name_as_keyexpr(&self) -> &keyexpr {
+        ke_for_sure!(&self.name[1..])
+    }
+
+    #[inline]
+    pub fn is_complete(&self) -> bool {
+        self.entities.is_complete()
+    }
+}
+
+impl std::fmt::Display for ServiceSrv {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "Service Server {}: {}", self.name, self.typ)?;
+        Ok(())
+    }
+}
+
+#[derive(Clone, Copy, Default)]
+pub struct ServiceCliEntities {
+    pub req_writer: Gid,
+    pub rep_reader: Gid,
+}
+
+impl ServiceCliEntities {
+    #[inline]
+    pub fn is_complete(&self) -> bool {
+        self.rep_reader != Gid::NOT_DISCOVERED && self.req_writer != Gid::NOT_DISCOVERED
+    }
+}
+
+impl std::fmt::Debug for ServiceCliEntities {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(
+            f,
+            "{{reqW:{:?}, repR:{:?}}}",
+            self.req_writer, self.rep_reader
+        )?;
+        Ok(())
+    }
+}
+
+#[derive(Clone, Debug, Serialize)]
+pub struct ServiceCli {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub typ: String,
+    #[serde(skip)]
+    pub entities: ServiceCliEntities,
+}
+
+impl ServiceCli {
+    pub fn create(name: String, typ: String) -> Result<ServiceCli, String> {
+        check_ros_name(&name)?;
+        Ok(ServiceCli {
+            name,
+            typ,
+            entities: ServiceCliEntities::default(),
+        })
+    }
+
+    pub fn name_as_keyexpr(&self) -> &keyexpr {
+        ke_for_sure!(&self.name[1..])
+    }
+
+    #[inline]
+    pub fn is_complete(&self) -> bool {
+        self.entities.is_complete()
+    }
+}
+
+impl std::fmt::Display for ServiceCli {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "Service Client {}: {}", self.name, self.typ)?;
+        Ok(())
+    }
+}
+
+#[derive(Clone, Copy, Default)]
+pub struct ActionSrvEntities {
+    pub send_goal: ServiceSrvEntities,
+    pub cancel_goal: ServiceSrvEntities,
+    pub get_result: ServiceSrvEntities,
+    pub status_writer: Gid,
+    pub feedback_writer: Gid,
+}
+
+impl ActionSrvEntities {
+    #[inline]
+    pub fn is_complete(&self) -> bool {
+        self.send_goal.is_complete()
+            && self.cancel_goal.is_complete()
+            && self.get_result.is_complete()
+            && self.status_writer != Gid::NOT_DISCOVERED
+            && self.feedback_writer != Gid::NOT_DISCOVERED
+    }
+}
+
+impl std::fmt::Debug for ActionSrvEntities {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(
+            f,
+            "{{send_goal{:?}, cancel_goal{:?}, get_result{:?}, statusW:{:?}, feedbackW:{:?}}}",
+            self.send_goal,
+            self.cancel_goal,
+            self.get_result,
+            self.status_writer,
+            self.feedback_writer,
+        )?;
+        Ok(())
+    }
+}
+
+#[derive(Clone, Debug, Serialize)]
+pub struct ActionSrv {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub typ: String,
+    #[serde(skip)]
+    pub entities: ActionSrvEntities,
+}
+
+impl ActionSrv {
+    pub fn create(name: String, typ: String) -> Result<ActionSrv, String> {
+        check_ros_name(&name)?;
+        Ok(ActionSrv {
+            name,
+            typ,
+            entities: ActionSrvEntities::default(),
+        })
+    }
+
+    pub fn name_as_keyexpr(&self) -> &keyexpr {
+        ke_for_sure!(&self.name[1..])
+    }
+
+    #[inline]
+    pub fn is_complete(&self) -> bool {
+        self.entities.is_complete()
+    }
+}
+
+impl std::fmt::Display for ActionSrv {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "Action Server {}: {}", self.name, self.typ)?;
+        Ok(())
+    }
+}
+
+#[derive(Clone, Copy, Default)]
+pub struct ActionCliEntities {
+    pub send_goal: ServiceCliEntities,
+    pub cancel_goal: ServiceCliEntities,
+    pub get_result: ServiceCliEntities,
+    pub status_reader: Gid,
+    pub feedback_reader: Gid,
+}
+
+impl ActionCliEntities {
+    #[inline]
+    pub fn is_complete(&self) -> bool {
+        self.send_goal.is_complete()
+            && self.cancel_goal.is_complete()
+            && self.get_result.is_complete()
+            && self.status_reader != Gid::NOT_DISCOVERED
+            && self.feedback_reader != Gid::NOT_DISCOVERED
+    }
+}
+
+impl std::fmt::Debug for ActionCliEntities {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(
+            f,
+            "{{send_goal{:?}, cancel_goal{:?}, get_result{:?}, statusR:{:?}, feedbackR:{:?}}}",
+            self.send_goal,
+            self.cancel_goal,
+            self.get_result,
+            self.status_reader,
+            self.feedback_reader,
+        )?;
+        Ok(())
+    }
+}
+
+#[derive(Clone, Debug, Serialize)]
+pub struct ActionCli {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub typ: String,
+    #[serde(skip)]
+    pub entities: ActionCliEntities,
+}
+
+impl ActionCli {
+    pub fn create(name: String, typ: String) -> Result<ActionCli, String> {
+        check_ros_name(&name)?;
+        Ok(ActionCli {
+            name,
+            typ,
+            entities: ActionCliEntities::default(),
+        })
+    }
+
+    pub fn name_as_keyexpr(&self) -> &keyexpr {
+        ke_for_sure!(&self.name[1..])
+    }
+
+    #[inline]
+    pub fn is_complete(&self) -> bool {
+        self.entities.is_complete()
+    }
+}
+
+impl std::fmt::Display for ActionCli {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "Action Client {}: {}", self.name, self.typ)?;
+        Ok(())
+    }
+}
+
+#[derive(Serialize)]
+pub struct NodeInfo {
+    // The node unique id is: <participant_gid>/<namespace>/<name>
+    #[serde(skip)]
+    pub id: String,
+    #[serde(skip)]
+    fullname: Range<usize>,
+    #[serde(skip)]
+    namespace: Range<usize>,
+    #[serde(skip)]
+    name: Range<usize>,
+    #[serde(skip)]
+    pub participant: Gid,
+    #[serde(rename = "publishers", serialize_with = "serialize_hashmap_values")]
+    pub msg_pub: HashMap<String, MsgPub>,
+    #[serde(rename = "subscribers", serialize_with = "serialize_hashmap_values")]
+    pub msg_sub: HashMap<String, MsgSub>,
+    #[serde(
+        rename = "service_servers",
+        serialize_with = "serialize_hashmap_values"
+    )]
+    pub service_srv: HashMap<String, ServiceSrv>,
+    #[serde(
+        rename = "service_clients",
+        serialize_with = "serialize_hashmap_values"
+    )]
+    pub service_cli: HashMap<String, ServiceCli>,
+    #[serde(rename = "action_servers", serialize_with = "serialize_hashmap_values")]
+    pub action_srv: HashMap<String, ActionSrv>,
+    #[serde(rename = "action_clients", serialize_with = "serialize_hashmap_values")]
+    pub action_cli: HashMap<String, ActionCli>,
+    #[serde(skip_serializing_if = "Vec::is_empty")]
+    pub undiscovered_reader: Vec<Gid>,
+    #[serde(skip_serializing_if = "Vec::is_empty")]
+    pub undiscovered_writer: Vec<Gid>,
+}
+
+impl std::fmt::Display for NodeInfo {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        f.write_str(&self.id)
+    }
+}
+
+impl std::fmt::Debug for NodeInfo {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(
+            f,
+            "{}  (namespace={}, name={})",
+            self.id,
+            self.namespace(),
+            self.name()
+        )
+    }
+}
+
+impl NodeInfo {
+    pub fn create(
+        node_namespace: String,
+        node_name: String,
+        participant: Gid,
+    ) -> Result<NodeInfo, String> {
+        // Construct id as "<participant_gid></namespace>/<name>", keeping Ranges for namespace and name
+        let mut id = participant.to_string();
+        let namespace_start: usize = id.len();
+        id.push_str(&node_namespace);
+        let namespace = Range {
+            start: namespace_start,
+            end: id.len(),
+        };
+        if node_namespace != "/" {
+            id.push('/')
+        }
+        let name_start = id.len();
+        id.push_str(&node_name);
+        let name = Range {
+            start: name_start,
+            end: id.len(),
+        };
+        let fullname = Range {
+            start: namespace_start,
+            end: id.len(),
+        };
+
+        // Check is resulting id is a valid key expression
+        if let Err(e) = KeyExpr::try_from(&id) {
+            return Err(format!(
+                "Incompatible ROS Node: '{id}' cannot be converted as a Zenoh key expression: {e}"
+            ));
+        }
+
+        Ok(NodeInfo {
+            id,
+            fullname,
+            namespace,
+            name,
+            participant,
+            msg_pub: HashMap::new(),
+            msg_sub: HashMap::new(),
+            service_srv: HashMap::new(),
+            service_cli: HashMap::new(),
+            action_srv: HashMap::new(),
+            action_cli: HashMap::new(),
+            undiscovered_reader: Vec::new(),
+            undiscovered_writer: Vec::new(),
+        })
+    }
+
+    #[inline]
+    pub fn id(&self) -> &str {
+        &self.id
+    }
+
+    #[inline]
+    pub fn fullname(&self) -> &str {
+        &self.id[self.fullname.clone()]
+    }
+
+    #[inline]
+    pub fn namespace(&self) -> &str {
+        &self.id[self.namespace.clone()]
+    }
+
+    #[inline]
+    pub fn name(&self) -> &str {
+        &self.id[self.name.clone()]
+    }
+
+    #[inline]
+    pub fn id_as_keyexpr(&self) -> &keyexpr {
+        ke_for_sure!(&self.id)
+    }
+
+    #[inline]
+    pub fn fullname_as_keyexpr(&self) -> &keyexpr {
+        // fullname always start with '/' - remove it
+        ke_for_sure!(&self.fullname()[1..])
+    }
+
+    pub fn update_with_reader(&mut self, entity: &DdsEntity) -> Option<ROS2DiscoveryEvent> {
+        let topic_prefix = &entity.topic_name[..3];
+        let topic_suffix = &entity.topic_name[2..];
+        match topic_prefix {
+            "rt/" if topic_suffix.ends_with("/_action/status") => self
+                .update_action_cli_status_reader(
+                    &topic_suffix[..topic_suffix.len() - 15],
+                    &entity.key,
+                ),
+            "rt/" if topic_suffix.ends_with("/_action/feedback") => self
+                .update_action_cli_feedback_reader(
+                    &topic_suffix[..topic_suffix.len() - 17],
+                    dds_type_to_ros2_action_type(&entity.type_name),
+                    &entity.key,
+                ),
+            "rt/" => self.update_msg_sub(
+                topic_suffix,
+                dds_type_to_ros2_message_type(&entity.type_name),
+                &entity.key,
+            ),
+            "rq/" if topic_suffix.ends_with("/_action/send_goalRequest") => self
+                .update_action_srv_send_req_reader(
+                    &topic_suffix[..topic_suffix.len() - 25],
+                    dds_type_to_ros2_action_type(&entity.type_name),
+                    &entity.key,
+                ),
+            "rq/" if topic_suffix.ends_with("/_action/cancel_goalRequest") => self
+                .update_action_srv_cancel_req_reader(
+                    &topic_suffix[..topic_suffix.len() - 27],
+                    &entity.key,
+                ),
+            "rq/" if topic_suffix.ends_with("/_action/get_resultRequest") => self
+                .update_action_srv_result_req_reader(
+                    &topic_suffix[..topic_suffix.len() - 26],
+                    dds_type_to_ros2_action_type(&entity.type_name),
+                    &entity.key,
+                ),
+            "rq/" if topic_suffix.ends_with("Request") => self.update_service_srv_req_reader(
+                &topic_suffix[..topic_suffix.len() - 7],
+                dds_type_to_ros2_service_type(&entity.type_name),
+                &entity.key,
+            ),
+            "rr/" if topic_suffix.ends_with("/_action/send_goalReply") => self
+                .update_action_cli_send_rep_reader(
+                    &topic_suffix[..topic_suffix.len() - 23],
+                    dds_type_to_ros2_action_type(&entity.type_name),
+                    &entity.key,
+                ),
+            "rr/" if topic_suffix.ends_with("/_action/cancel_goalReply") => self
+                .update_action_cli_cancel_rep_reader(
+                    &topic_suffix[..topic_suffix.len() - 25],
+                    &entity.key,
+                ),
+            "rr/" if topic_suffix.ends_with("/_action/get_resultReply") => self
+                .update_action_cli_result_rep_reader(
+                    &topic_suffix[..topic_suffix.len() - 24],
+                    dds_type_to_ros2_action_type(&entity.type_name),
+                    &entity.key,
+                ),
+            "rr/" if topic_suffix.ends_with("Reply") => self.update_service_cli_rep_reader(
+                &topic_suffix[..topic_suffix.len() - 5],
+                dds_type_to_ros2_service_type(&entity.type_name),
+                &entity.key,
+            ),
+            _ => {
+                log::warn!(
+                    r#"ROS Node {self} uses unexpected DDS topic "{}" - ignored"#,
+                    entity.topic_name
+                );
+                None
+            }
+        }
+    }
+
+    pub fn update_with_writer(&mut self, entity: &DdsEntity) -> Option<ROS2DiscoveryEvent> {
+        let topic_prefix = &entity.topic_name[..3];
+        let topic_suffix = &entity.topic_name[2..];
+        match topic_prefix {
+            "rt/" if topic_suffix.ends_with("/_action/status") => self
+                .update_action_srv_status_writer(
+                    &topic_suffix[..topic_suffix.len() - 15],
+                    &entity.key,
+                ),
+            "rt/" if topic_suffix.ends_with("/_action/feedback") => self
+                .update_action_srv_feedback_writer(
+                    &topic_suffix[..topic_suffix.len() - 17],
+                    dds_type_to_ros2_action_type(&entity.type_name),
+                    &entity.key,
+                ),
+            "rt/" => self.update_msg_pub(
+                topic_suffix,
+                dds_type_to_ros2_message_type(&entity.type_name),
+                &entity.key,
+            ),
+            "rq/" if topic_suffix.ends_with("/_action/send_goalRequest") => self
+                .update_action_cli_send_req_writer(
+                    &topic_suffix[..topic_suffix.len() - 25],
+                    dds_type_to_ros2_action_type(&entity.type_name),
+                    &entity.key,
+                ),
+            "rq/" if topic_suffix.ends_with("/_action/cancel_goalRequest") => self
+                .update_action_cli_cancel_req_writer(
+                    &topic_suffix[..topic_suffix.len() - 27],
+                    &entity.key,
+                ),
+            "rq/" if topic_suffix.ends_with("/_action/get_resultRequest") => self
+                .update_action_cli_result_req_writer(
+                    &topic_suffix[..topic_suffix.len() - 26],
+                    dds_type_to_ros2_action_type(&entity.type_name),
+                    &entity.key,
+                ),
+            "rq/" if topic_suffix.ends_with("Request") => self.update_service_cli_req_writer(
+                &topic_suffix[..topic_suffix.len() - 7],
+                dds_type_to_ros2_service_type(&entity.type_name),
+                &entity.key,
+            ),
+            "rr/" if topic_suffix.ends_with("/_action/send_goalReply") => self
+                .update_action_srv_send_rep_writer(
+                    &topic_suffix[..topic_suffix.len() - 23],
+                    dds_type_to_ros2_action_type(&entity.type_name),
+                    &entity.key,
+                ),
+            "rr/" if topic_suffix.ends_with("/_action/cancel_goalReply") => self
+                .update_action_srv_cancel_rep_writer(
+                    &topic_suffix[..topic_suffix.len() - 25],
+                    &entity.key,
+                ),
+            "rr/" if topic_suffix.ends_with("/_action/get_resultReply") => self
+                .update_action_srv_result_rep_writer(
+                    &topic_suffix[..topic_suffix.len() - 24],
+                    dds_type_to_ros2_action_type(&entity.type_name),
+                    &entity.key,
+                ),
+            "rr/" if topic_suffix.ends_with("Reply") => self.update_service_srv_rep_writer(
+                &topic_suffix[..topic_suffix.len() - 5],
+                dds_type_to_ros2_service_type(&entity.type_name),
+                &entity.key,
+            ),
+            _ => {
+                log::warn!(
+                    r#"ROS Node {self} uses unexpected DDS topic "{}" - ignored"#,
+                    entity.topic_name
+                );
+                None
+            }
+        }
+    }
+
+    // Update MsgPub, returing a ROS2DiscoveryEvent::DiscoveredMsgSub if new or changed
+    fn update_msg_pub(
+        &mut self,
+        name: &str,
+        typ: String,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredMsgPub;
+        let node_fullname = self.fullname().to_string();
+        match self.msg_pub.entry(name.into()) {
+            Entry::Vacant(e) => match MsgPub::create(name.into(), typ, *writer) {
+                Ok(t) => {
+                    e.insert(t.clone());
+                    Some(DiscoveredMsgPub(node_fullname, t))
+                }
+                Err(e) => {
+                    log::error!(
+                        "ROS Node {self} declared an incompatible Publisher: {e} - ignored"
+                    );
+                    None
+                }
+            },
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result: Option<ROS2DiscoveryEvent> = None;
+                if v.typ != typ {
+                    log::warn!(
+                        r#"ROS declaration of Publisher "{v}" changed it's type to "{typ}""#
+                    );
+                    v.typ = typ;
+                    result = Some(DiscoveredMsgPub(node_fullname.clone(), v.clone()));
+                }
+                if v.writer != *writer {
+                    log::debug!(
+                        r#"ROS declaration of Publisher "{v}" changed it's DDS Writer's GID from {} to {writer}"#,
+                        v.writer
+                    );
+                    v.writer = *writer;
+                    result = Some(DiscoveredMsgPub(node_fullname, v.clone()));
+                }
+                result
+            }
+        }
+    }
+
+    // Update MsgSub, returing a ROS2DiscoveryEvent::DiscoveredMsgSub if new or changed
+    fn update_msg_sub(
+        &mut self,
+        name: &str,
+        typ: String,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredMsgSub;
+        let node_fullname = self.fullname().to_string();
+        match self.msg_sub.entry(name.into()) {
+            Entry::Vacant(e) => match MsgSub::create(name.into(), typ, *reader) {
+                Ok(t) => {
+                    e.insert(t.clone());
+                    Some(DiscoveredMsgSub(node_fullname, t))
+                }
+                Err(e) => {
+                    log::error!(
+                        "ROS Node {self} declared an incompatible Subscriber: {e} - ignored"
+                    );
+                    None
+                }
+            },
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result: Option<ROS2DiscoveryEvent> = None;
+                if v.typ != typ {
+                    log::warn!(
+                        r#"ROS declaration of Subscriber "{v}" changed it's type to "{typ}""#
+                    );
+                    v.typ = typ;
+                    result = Some(DiscoveredMsgSub(node_fullname.clone(), v.clone()));
+                }
+                if v.reader != *reader {
+                    log::debug!(
+                        r#"ROS declaration of Subscriber "{v}" changed it's DDS Writer's GID from {} to {reader}"#,
+                        v.reader
+                    );
+                    v.reader = *reader;
+                    result = Some(DiscoveredMsgSub(node_fullname, v.clone()));
+                }
+                result
+            }
+        }
+    }
+
+    // Update ServiceSrv, returing a ROS2DiscoveryEvent::DiscoveredServiceSrv if new and complete or changed
+    fn update_service_srv_req_reader(
+        &mut self,
+        name: &str,
+        typ: String,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredServiceSrv;
+        let node_fullname = self.fullname().to_string();
+        match self.service_srv.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ServiceSrv::create(name.into(), typ) {
+                    Ok(mut s) => {
+                        s.entities.req_reader = *reader;
+                        e.insert(s);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Service Server: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    log::warn!(
+                        r#"ROS declaration of Service Server "{v}" changed it's type to "{typ}""#
+                    );
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredServiceSrv(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.req_reader != *reader {
+                    if v.entities.req_reader != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Service Server "{v}" changed it's Request DDS Reader's GID from {} to {reader}"#,
+                            v.entities.req_reader
+                        );
+                    }
+                    v.entities.req_reader = *reader;
+                    if v.is_complete() {
+                        result = Some(DiscoveredServiceSrv(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ServiceSrv, returing a ROS2DiscoveryEvent::DiscoveredServiceSrv if new and complete or changed
+    fn update_service_srv_rep_writer(
+        &mut self,
+        name: &str,
+        typ: String,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredServiceSrv;
+        let node_fullname = self.fullname().to_string();
+        match self.service_srv.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ServiceSrv::create(name.into(), typ) {
+                    Ok(mut s) => {
+                        s.entities.rep_writer = *writer;
+                        e.insert(s);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Service Server: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    log::warn!(
+                        r#"ROS declaration of Service Server "{v}" changed it's type to "{typ}""#
+                    );
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredServiceSrv(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.rep_writer != *writer {
+                    if v.entities.rep_writer != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Service Server "{v}" changed it's Reply DDS Writer's GID from {} to {writer}"#,
+                            v.entities.rep_writer
+                        );
+                    }
+                    v.entities.rep_writer = *writer;
+                    if v.is_complete() {
+                        result = Some(DiscoveredServiceSrv(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ServiceCli, returing a ROS2DiscoveryEvent::DiscoveredServiceCli if new and complete or changed
+    fn update_service_cli_rep_reader(
+        &mut self,
+        name: &str,
+        typ: String,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredServiceCli;
+        let node_fullname = self.fullname().to_string();
+        match self.service_cli.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ServiceCli::create(name.into(), typ) {
+                    Ok(mut s) => {
+                        s.entities.rep_reader = *reader;
+                        e.insert(s);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Service Client: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    log::warn!(
+                        r#"ROS declaration of Service Client "{v}" changed it's type to "{typ}""#
+                    );
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredServiceCli(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.rep_reader != *reader {
+                    if v.entities.rep_reader != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Service Client "{v}" changed it's Request DDS Reader's GID from {} to {reader}"#,
+                            v.entities.rep_reader
+                        );
+                    }
+                    v.entities.rep_reader = *reader;
+                    if v.is_complete() {
+                        result = Some(DiscoveredServiceCli(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ServiceCli, returing a ROS2DiscoveryEvent::DiscoveredServiceCli if new and complete or changed
+    fn update_service_cli_req_writer(
+        &mut self,
+        name: &str,
+        typ: String,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredServiceCli;
+        let node_fullname = self.fullname().to_string();
+        match self.service_cli.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ServiceCli::create(name.into(), typ) {
+                    Ok(mut s) => {
+                        s.entities.req_writer = *writer;
+                        e.insert(s);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Service Client: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    log::warn!(
+                        r#"ROS declaration of Service Server "{v}" changed it's type to "{typ}""#
+                    );
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredServiceCli(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.req_writer != *writer {
+                    if v.entities.req_writer != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Service Server "{v}" changed it's Reply DDS Writer's GID from {} to {writer}"#,
+                            v.entities.req_writer
+                        );
+                    }
+                    v.entities.req_writer = *writer;
+                    if v.is_complete() {
+                        result = Some(DiscoveredServiceCli(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionSrv, returing a ROS2DiscoveryEvent::DiscoveredActionSrv if new and complete or changed
+    fn update_action_srv_send_req_reader(
+        &mut self,
+        name: &str,
+        typ: String,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionSrv;
+        let node_fullname = self.fullname().to_string();
+        match self.action_srv.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionSrv::create(name.into(), typ) {
+                    Ok(mut a) => {
+                        a.entities.send_goal.req_reader = *reader;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Server: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    if !v.typ.is_empty() {
+                        log::warn!(
+                            r#"ROS declaration of Action Server "{v}" changed it's type to "{typ}""#
+                        );
+                    }
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.send_goal.req_reader != *reader {
+                    if v.entities.send_goal.req_reader != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Server "{v}" changed it's send_goal Request DDS Reader's GID from {} to {reader}"#,
+                            v.entities.send_goal.req_reader
+                        );
+                    }
+                    v.entities.send_goal.req_reader = *reader;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionSrv, returing a ROS2DiscoveryEvent::DiscoveredActionSrv if new and complete or changed
+    fn update_action_srv_send_rep_writer(
+        &mut self,
+        name: &str,
+        typ: String,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionSrv;
+        let node_fullname = self.fullname().to_string();
+        match self.action_srv.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionSrv::create(name.into(), typ) {
+                    Ok(mut a) => {
+                        a.entities.send_goal.rep_writer = *writer;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Server: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    if !v.typ.is_empty() {
+                        log::warn!(
+                            r#"ROS declaration of Action Server "{v}" changed it's type to "{typ}""#
+                        );
+                    }
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.send_goal.rep_writer != *writer {
+                    if v.entities.send_goal.rep_writer != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Server "{v}" changed it's send_goal Reply DDS Writer's GID from {} to {writer}"#,
+                            v.entities.send_goal.rep_writer
+                        );
+                    }
+                    v.entities.send_goal.rep_writer = *writer;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionSrv, returing a ROS2DiscoveryEvent::DiscoveredActionSrv if new and complete or changed
+    // NOTE: type of CancelGoal topic does not reflect the action type.
+    //       Thus we don't update it or we create ActionCli with as an empty String as type.
+    fn update_action_srv_cancel_req_reader(
+        &mut self,
+        name: &str,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionSrv;
+        let node_fullname = self.fullname().to_string();
+        match self.action_srv.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionSrv::create(name.into(), String::new()) {
+                    Ok(mut a) => {
+                        a.entities.cancel_goal.req_reader = *reader;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Server: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.entities.cancel_goal.req_reader != *reader {
+                    if v.entities.cancel_goal.req_reader != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Server "{v}" changed it's cancel_goal Request DDS Reader's GID from {} to {reader}"#,
+                            v.entities.cancel_goal.req_reader
+                        );
+                    }
+                    v.entities.cancel_goal.req_reader = *reader;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionSrv, returing a ROS2DiscoveryEvent::DiscoveredActionSrv if new and complete or changed
+    // NOTE: type of CancelGoal topic does not reflect the action type.
+    //       Thus we don't update it or we create ActionCli with as an empty String as type.
+    fn update_action_srv_cancel_rep_writer(
+        &mut self,
+        name: &str,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionSrv;
+        let node_fullname = self.fullname().to_string();
+        match self.action_srv.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionSrv::create(name.into(), String::new()) {
+                    Ok(mut a) => {
+                        a.entities.cancel_goal.rep_writer = *writer;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Server: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.entities.cancel_goal.rep_writer != *writer {
+                    if v.entities.cancel_goal.rep_writer != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Server "{v}" changed it's cancel_goal Reply DDS Writer's GID from {} to {writer}"#,
+                            v.entities.cancel_goal.rep_writer
+                        );
+                    }
+                    v.entities.cancel_goal.rep_writer = *writer;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionSrv, returing a ROS2DiscoveryEvent::DiscoveredActionSrv if new and complete or changed
+    fn update_action_srv_result_req_reader(
+        &mut self,
+        name: &str,
+        typ: String,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionSrv;
+        let node_fullname = self.fullname().to_string();
+        match self.action_srv.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionSrv::create(name.into(), typ) {
+                    Ok(mut a) => {
+                        a.entities.get_result.req_reader = *reader;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Server: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    if !v.typ.is_empty() {
+                        log::warn!(
+                            r#"ROS declaration of Action Server "{v}" changed it's type to "{typ}""#
+                        );
+                    }
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.get_result.req_reader != *reader {
+                    if v.entities.get_result.req_reader != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Server "{v}" changed it's get_result Request DDS Reader's GID from {} to {reader}"#,
+                            v.entities.get_result.req_reader
+                        );
+                    }
+                    v.entities.get_result.req_reader = *reader;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionSrv, returing a ROS2DiscoveryEvent::DiscoveredActionSrv if new and complete or changed
+    fn update_action_srv_result_rep_writer(
+        &mut self,
+        name: &str,
+        typ: String,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionSrv;
+        let node_fullname = self.fullname().to_string();
+        match self.action_srv.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionSrv::create(name.into(), typ) {
+                    Ok(mut a) => {
+                        a.entities.get_result.rep_writer = *writer;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Server: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    if !v.typ.is_empty() {
+                        log::warn!(
+                            r#"ROS declaration of Action Server "{v}" changed it's type to "{typ}""#
+                        );
+                    }
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.get_result.rep_writer != *writer {
+                    if v.entities.get_result.rep_writer != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Server "{v}" changed it's get_result Reply DDS Writer's GID from {} to {writer}"#,
+                            v.entities.get_result.rep_writer
+                        );
+                    }
+                    v.entities.get_result.rep_writer = *writer;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionSrv, returing a ROS2DiscoveryEvent::DiscoveredActionSrv if new and complete or changed
+    // NOTE: type of Status topic does not reflect the action type.
+    //       Thus we don't update it or we create ActionCli with as an empty String as type.
+    fn update_action_srv_status_writer(
+        &mut self,
+        name: &str,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionSrv;
+        let node_fullname = self.fullname().to_string();
+        match self.action_srv.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionSrv::create(name.into(), String::new()) {
+                    Ok(mut a) => {
+                        a.entities.status_writer = *writer;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Server: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.entities.status_writer != *writer {
+                    if v.entities.status_writer != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Server "{v}" changed it's status DDS Writer's GID from {} to {writer}"#,
+                            v.entities.status_writer
+                        );
+                    }
+                    v.entities.status_writer = *writer;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionSrv, returing a ROS2DiscoveryEvent::DiscoveredActionSrv if new and complete or changed
+    fn update_action_srv_feedback_writer(
+        &mut self,
+        name: &str,
+        typ: String,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionSrv;
+        let node_fullname = self.fullname().to_string();
+        match self.action_srv.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionSrv::create(name.into(), typ) {
+                    Ok(mut a) => {
+                        a.entities.feedback_writer = *writer;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Server: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    if !v.typ.is_empty() {
+                        log::warn!(
+                            r#"ROS declaration of Action Server "{v}" changed it's type to "{typ}""#
+                        );
+                    }
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.feedback_writer != *writer {
+                    if v.entities.feedback_writer != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Server "{v}" changed it's status DDS Writer's GID from {} to {writer}"#,
+                            v.entities.feedback_writer
+                        );
+                    }
+                    v.entities.feedback_writer = *writer;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionSrv(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionCli, returing a ROS2DiscoveryEvent::DiscoveredActionCli if new and complete or changed
+    fn update_action_cli_send_rep_reader(
+        &mut self,
+        name: &str,
+        typ: String,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionCli;
+        let node_fullname = self.fullname().to_string();
+        match self.action_cli.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionCli::create(name.into(), typ) {
+                    Ok(mut a) => {
+                        a.entities.send_goal.rep_reader = *reader;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Client: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    if !v.typ.is_empty() {
+                        log::warn!(
+                            r#"ROS declaration of Action Client "{v}" changed it's type to "{typ}""#
+                        );
+                    }
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.send_goal.rep_reader != *reader {
+                    if v.entities.send_goal.rep_reader != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Client "{v}" changed it's send_goal Reply DDS Reader's GID from {} to {reader}"#,
+                            v.entities.send_goal.rep_reader
+                        );
+                    }
+                    v.entities.send_goal.rep_reader = *reader;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionCli, returing a ROS2DiscoveryEvent::DiscoveredActionCli if new and complete or changed
+    fn update_action_cli_send_req_writer(
+        &mut self,
+        name: &str,
+        typ: String,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionCli;
+        let node_fullname = self.fullname().to_string();
+        match self.action_cli.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionCli::create(name.into(), typ) {
+                    Ok(mut a) => {
+                        a.entities.send_goal.req_writer = *writer;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Client: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    if !v.typ.is_empty() {
+                        log::warn!(
+                            r#"ROS declaration of Action Client "{v}" changed it's type to "{typ}""#
+                        );
+                    }
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.send_goal.req_writer != *writer {
+                    if v.entities.send_goal.req_writer != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Client "{v}" changed it's send_goal Request DDS Writer's GID from {} to {writer}"#,
+                            v.entities.send_goal.req_writer
+                        );
+                    }
+                    v.entities.send_goal.req_writer = *writer;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionCli, returing a ROS2DiscoveryEvent::DiscoveredActionCli if new and complete or changed
+    // NOTE: type of CancelGoal topic does not reflect the action type.
+    //       Thus we don't update it or we create ActionCli with as an empty String as type.
+    fn update_action_cli_cancel_rep_reader(
+        &mut self,
+        name: &str,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionCli;
+        let node_fullname = self.fullname().to_string();
+        match self.action_cli.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionCli::create(name.into(), String::new()) {
+                    Ok(mut a) => {
+                        a.entities.cancel_goal.rep_reader = *reader;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Client: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.entities.cancel_goal.rep_reader != *reader {
+                    if v.entities.cancel_goal.rep_reader != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Client "{v}" changed it's cancel_goal Reply DDS Reader's GID from {} to {reader}"#,
+                            v.entities.cancel_goal.rep_reader
+                        );
+                    }
+                    v.entities.cancel_goal.rep_reader = *reader;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionCli, returing a ROS2DiscoveryEvent::DiscoveredActionCli if new and complete or changed
+    // NOTE: type of CancelGoal topic does not reflect the action type.
+    //       Thus we don't update it or we create ActionCli with as an empty String as type.
+    fn update_action_cli_cancel_req_writer(
+        &mut self,
+        name: &str,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionCli;
+        let node_fullname = self.fullname().to_string();
+        match self.action_cli.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionCli::create(name.into(), String::new()) {
+                    Ok(mut a) => {
+                        a.entities.cancel_goal.req_writer = *writer;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Client: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.entities.cancel_goal.req_writer != *writer {
+                    if v.entities.cancel_goal.req_writer != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Client "{v}" changed it's cancel_goal Request DDS Writer's GID from {} to {writer}"#,
+                            v.entities.cancel_goal.req_writer
+                        );
+                    }
+                    v.entities.cancel_goal.req_writer = *writer;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionCli, returing a ROS2DiscoveryEvent::DiscoveredActionCli if new and complete or changed
+    fn update_action_cli_result_rep_reader(
+        &mut self,
+        name: &str,
+        typ: String,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionCli;
+        let node_fullname = self.fullname().to_string();
+        match self.action_cli.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionCli::create(name.into(), typ) {
+                    Ok(mut a) => {
+                        a.entities.get_result.rep_reader = *reader;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Client: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    if !v.typ.is_empty() {
+                        log::warn!(
+                            r#"ROS declaration of Action Client "{v}" changed it's type to "{typ}""#
+                        );
+                    }
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.get_result.rep_reader != *reader {
+                    if v.entities.get_result.rep_reader != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Client "{v}" changed it's get_result Reply DDS Reader's GID from {} to {reader}"#,
+                            v.entities.get_result.rep_reader
+                        );
+                    }
+                    v.entities.get_result.rep_reader = *reader;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionCli, returing a ROS2DiscoveryEvent::DiscoveredActionCli if new and complete or changed
+    fn update_action_cli_result_req_writer(
+        &mut self,
+        name: &str,
+        typ: String,
+        writer: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionCli;
+        let node_fullname = self.fullname().to_string();
+        match self.action_cli.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionCli::create(name.into(), typ) {
+                    Ok(mut a) => {
+                        a.entities.get_result.req_writer = *writer;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Client: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    if !v.typ.is_empty() {
+                        log::warn!(
+                            r#"ROS declaration of Action Client "{v}" changed it's type to "{typ}""#
+                        );
+                    }
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.get_result.req_writer != *writer {
+                    if v.entities.get_result.req_writer != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Client "{v}" changed it's get_result Request DDS Writer's GID from {} to {writer}"#,
+                            v.entities.get_result.req_writer
+                        );
+                    }
+                    v.entities.get_result.req_writer = *writer;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionCli, returing a ROS2DiscoveryEvent::DiscoveredActionCli if new and complete or changed
+    // NOTE: type of Status topic does not reflect the action type.
+    //       Thus we don't update it or we create ActionCli with as an empty String as type.
+    fn update_action_cli_status_reader(
+        &mut self,
+        name: &str,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionCli;
+        let node_fullname = self.fullname().to_string();
+        match self.action_cli.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionCli::create(name.into(), String::new()) {
+                    Ok(mut a) => {
+                        a.entities.status_reader = *reader;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Client: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.entities.status_reader != *reader {
+                    if v.entities.status_reader != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Client "{v}" changed it's status DDS Reader's GID from {} to {reader}"#,
+                            v.entities.status_reader
+                        );
+                    }
+                    v.entities.status_reader = *reader;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    // Update ActionCli, returing a ROS2DiscoveryEvent::DiscoveredActionCli if new and complete or changed
+    fn update_action_cli_feedback_reader(
+        &mut self,
+        name: &str,
+        typ: String,
+        reader: &Gid,
+    ) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::DiscoveredActionCli;
+        let node_fullname = self.fullname().to_string();
+        match self.action_cli.entry(name.into()) {
+            Entry::Vacant(e) => {
+                match ActionCli::create(name.into(), typ) {
+                    Ok(mut a) => {
+                        a.entities.feedback_reader = *reader;
+                        e.insert(a);
+                    }
+                    Err(e) => log::error!(
+                        "ROS Node {self} declared an incompatible Action Client: {e} - ignored"
+                    ),
+                }
+                None // discovery is not complete anyway
+            }
+            Entry::Occupied(mut e) => {
+                let v = e.get_mut();
+                let mut result = None;
+                if v.typ != typ {
+                    if !v.typ.is_empty() {
+                        log::warn!(
+                            r#"ROS declaration of Action Client "{v}" changed it's type to "{typ}""#
+                        );
+                    }
+                    v.typ = typ;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname.clone(), v.clone()))
+                    };
+                }
+                if v.entities.feedback_reader != *reader {
+                    if v.entities.feedback_reader != Gid::NOT_DISCOVERED {
+                        log::debug!(
+                            r#"ROS declaration of Action Client "{v}" changed it's status DDS Reader's GID from {} to {reader}"#,
+                            v.entities.feedback_reader
+                        );
+                    }
+                    v.entities.feedback_reader = *reader;
+                    if v.is_complete() {
+                        result = Some(DiscoveredActionCli(node_fullname, v.clone()))
+                    };
+                }
+                result
+            }
+        }
+    }
+
+    //
+    pub fn remove_all_entities(&mut self) -> Vec<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::*;
+        let node_fullname = self.fullname().to_string();
+        let mut events = Vec::new();
+
+        for (_, v) in self.msg_pub.drain() {
+            events.push(UndiscoveredMsgPub(node_fullname.clone(), v))
+        }
+        for (_, v) in self.msg_sub.drain() {
+            events.push(UndiscoveredMsgSub(node_fullname.clone(), v))
+        }
+        for (_, v) in self.service_srv.drain() {
+            events.push(UndiscoveredServiceSrv(node_fullname.clone(), v))
+        }
+        for (_, v) in self.service_cli.drain() {
+            events.push(UndiscoveredServiceCli(node_fullname.clone(), v))
+        }
+        for (_, v) in self.action_srv.drain() {
+            events.push(UndiscoveredActionSrv(node_fullname.clone(), v))
+        }
+        for (_, v) in self.action_cli.drain() {
+            events.push(UndiscoveredActionCli(node_fullname.clone(), v))
+        }
+        self.undiscovered_reader.resize(0, Gid::NOT_DISCOVERED);
+        self.undiscovered_writer.resize(0, Gid::NOT_DISCOVERED);
+
+        events
+    }
+
+    // Remove a DDS Reader possibly used by this node, and returns an UndiscoveredX event if
+    // this Reader was used by some Subscription, Service or Action
+    pub fn remove_reader(&mut self, reader: &Gid) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::*;
+        let node_fullname = self.fullname().to_string();
+        if let Some((name, _)) = self.msg_sub.iter().find(|(_, v)| v.reader == *reader) {
+            return Some(UndiscoveredMsgSub(
+                node_fullname,
+                self.msg_sub.remove(&name.clone()).unwrap(),
+            ));
+        }
+        if let Some((name, _)) = self
+            .service_srv
+            .iter()
+            .find(|(_, v)| v.entities.req_reader == *reader)
+        {
+            return Some(UndiscoveredServiceSrv(
+                node_fullname,
+                self.service_srv.remove(&name.clone()).unwrap(),
+            ));
+        }
+        if let Some((name, _)) = self
+            .service_cli
+            .iter()
+            .find(|(_, v)| v.entities.rep_reader == *reader)
+        {
+            return Some(UndiscoveredServiceCli(
+                node_fullname,
+                self.service_cli.remove(&name.clone()).unwrap(),
+            ));
+        }
+        if let Some((name, _)) = self.action_srv.iter().find(|(_, v)| {
+            v.entities.send_goal.req_reader == *reader
+                || v.entities.cancel_goal.req_reader == *reader
+                || v.entities.get_result.req_reader == *reader
+        }) {
+            return Some(UndiscoveredActionSrv(
+                node_fullname,
+                self.action_srv.remove(&name.clone()).unwrap(),
+            ));
+        }
+        if let Some((name, _)) = self.action_cli.iter().find(|(_, v)| {
+            v.entities.send_goal.rep_reader == *reader
+                || v.entities.cancel_goal.rep_reader == *reader
+                || v.entities.get_result.rep_reader == *reader
+                || v.entities.status_reader == *reader
+                || v.entities.feedback_reader == *reader
+        }) {
+            return Some(UndiscoveredActionCli(
+                node_fullname,
+                self.action_cli.remove(&name.clone()).unwrap(),
+            ));
+        }
+        self.undiscovered_reader.retain(|gid| gid != reader);
+        None
+    }
+
+    // Remove a DDS Writer possibly used by this node, and returns an UndiscoveredX event if
+    // this Writer was used by some Subscription, Service or Action
+    pub fn remove_writer(&mut self, writer: &Gid) -> Option<ROS2DiscoveryEvent> {
+        use ROS2DiscoveryEvent::*;
+        let node_fullname = self.fullname().to_string();
+        if let Some((name, _)) = self.msg_pub.iter().find(|(_, v)| v.writer == *writer) {
+            return Some(UndiscoveredMsgPub(
+                node_fullname,
+                self.msg_pub.remove(&name.clone()).unwrap(),
+            ));
+        }
+        if let Some((name, _)) = self
+            .service_srv
+            .iter()
+            .find(|(_, v)| v.entities.rep_writer == *writer)
+        {
+            return Some(UndiscoveredServiceSrv(
+                node_fullname,
+                self.service_srv.remove(&name.clone()).unwrap(),
+            ));
+        }
+        if let Some((name, _)) = self
+            .service_cli
+            .iter()
+            .find(|(_, v)| v.entities.req_writer == *writer)
+        {
+            return Some(UndiscoveredServiceCli(
+                node_fullname,
+                self.service_cli.remove(&name.clone()).unwrap(),
+            ));
+        }
+        if let Some((name, _)) = self.action_srv.iter().find(|(_, v)| {
+            v.entities.send_goal.rep_writer == *writer
+                || v.entities.cancel_goal.rep_writer == *writer
+                || v.entities.get_result.rep_writer == *writer
+                || v.entities.status_writer == *writer
+                || v.entities.feedback_writer == *writer
+        }) {
+            return Some(UndiscoveredActionSrv(
+                node_fullname,
+                self.action_srv.remove(&name.clone()).unwrap(),
+            ));
+        }
+        if let Some((name, _)) = self.action_cli.iter().find(|(_, v)| {
+            v.entities.send_goal.req_writer == *writer
+                || v.entities.cancel_goal.req_writer == *writer
+                || v.entities.get_result.req_writer == *writer
+        }) {
+            return Some(UndiscoveredActionCli(
+                node_fullname,
+                self.action_cli.remove(&name.clone()).unwrap(),
+            ));
+        }
+        self.undiscovered_writer.retain(|gid| gid != writer);
+        None
+    }
+}
+
+fn serialize_hashmap_values<S, T: Serialize>(
+    map: &HashMap<String, T>,
+    serializer: S,
+) -> Result<S::Ok, S::Error>
+where
+    S: Serializer,
+{
+    let mut seq: <S as Serializer>::SerializeSeq = serializer.serialize_seq(Some(map.len()))?;
+    for x in map.values() {
+        seq.serialize_element(x)?;
+    }
+    seq.end()
+}
diff --git a/zenoh-plugin-ros2dds/src/qos_helpers.rs b/zenoh-plugin-ros2dds/src/qos_helpers.rs
new file mode 100644
index 0000000..81b5ce8
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/qos_helpers.rs
@@ -0,0 +1,138 @@
+//
+// 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>
+//
+use cyclors::{qos::*, DDS_LENGTH_UNLIMITED};
+
+pub fn get_history_or_default(qos: &Qos) -> History {
+    match &qos.history {
+        None => History::default(),
+        Some(history) => history.clone(),
+    }
+}
+
+pub fn get_durability_service_or_default(qos: &Qos) -> DurabilityService {
+    match &qos.durability_service {
+        None => DurabilityService::default(),
+        Some(durability_service) => durability_service.clone(),
+    }
+}
+
+pub fn partition_is_empty(partition: &Option<Vec<String>>) -> bool {
+    partition
+        .as_ref()
+        .map_or(true, |partition| partition.is_empty())
+}
+
+pub fn partition_contains(partition: &Option<Vec<String>>, name: &String) -> bool {
+    partition
+        .as_ref()
+        .map_or(false, |partition| partition.contains(name))
+}
+
+pub fn is_writer_reliable(reliability: &Option<Reliability>) -> bool {
+    reliability.as_ref().map_or(true, |reliability| {
+        reliability.kind == ReliabilityKind::RELIABLE
+    })
+}
+
+pub fn is_reader_reliable(reliability: &Option<Reliability>) -> bool {
+    reliability.as_ref().map_or(false, |reliability| {
+        reliability.kind == ReliabilityKind::RELIABLE
+    })
+}
+
+pub fn is_transient_local(qos: &Qos) -> bool {
+    qos.durability.as_ref().map_or(false, |durability| {
+        durability.kind == DurabilityKind::TRANSIENT_LOCAL
+    })
+}
+
+// Copy and adapt Writer's QoS for creation of a matching Reader
+pub fn adapt_writer_qos_for_reader(qos: &Qos) -> Qos {
+    let mut reader_qos = qos.clone();
+
+    // Unset any writer QoS that doesn't apply to data readers
+    reader_qos.durability_service = None;
+    reader_qos.ownership_strength = None;
+    reader_qos.transport_priority = None;
+    reader_qos.lifespan = None;
+    reader_qos.writer_data_lifecycle = None;
+    reader_qos.writer_batching = None;
+
+    // Unset proprietary QoS which shouldn't apply
+    reader_qos.properties = None;
+    reader_qos.entity_name = None;
+    reader_qos.ignore_local = Some(IgnoreLocal {
+        kind: IgnoreLocalKind::PARTICIPANT,
+    });
+
+    // Set default Reliability QoS if not set for writer
+    if reader_qos.reliability.is_none() {
+        reader_qos.reliability = Some({
+            Reliability {
+                kind: ReliabilityKind::BEST_EFFORT,
+                max_blocking_time: DDS_100MS_DURATION,
+            }
+        });
+    }
+
+    reader_qos
+}
+
+// Copy and adapt Reader's QoS for creation of a matching Writer
+pub fn adapt_reader_qos_for_writer(qos: &Qos) -> Qos {
+    let mut writer_qos = qos.clone();
+
+    // Unset any reader QoS that doesn't apply to data writers
+    writer_qos.time_based_filter = None;
+    writer_qos.reader_data_lifecycle = None;
+    writer_qos.properties = None;
+    writer_qos.entity_name = None;
+
+    // Don't match with readers with the same participant
+    writer_qos.ignore_local = Some(IgnoreLocal {
+        kind: IgnoreLocalKind::PARTICIPANT,
+    });
+
+    // if Reader is TRANSIENT_LOCAL, configure durability_service QoS with same history as the Reader.
+    // This is because CycloneDDS is actually using durability_service.history for transient_local historical data.
+    if is_transient_local(qos) {
+        let history = qos
+            .history
+            .as_ref()
+            .map_or(History::default(), |history| history.clone());
+
+        writer_qos.durability_service = Some(DurabilityService {
+            service_cleanup_delay: 60 * DDS_1S_DURATION,
+            history_kind: history.kind,
+            history_depth: history.depth,
+            max_samples: DDS_LENGTH_UNLIMITED,
+            max_instances: DDS_LENGTH_UNLIMITED,
+            max_samples_per_instance: DDS_LENGTH_UNLIMITED,
+        });
+    }
+    // Workaround for the DDS Writer to correctly match with a FastRTPS Reader
+    writer_qos.reliability = match writer_qos.reliability {
+        Some(mut reliability) => {
+            reliability.max_blocking_time = reliability.max_blocking_time.saturating_add(1);
+            Some(reliability)
+        }
+        _ => {
+            let mut reliability = Reliability::default();
+            reliability.max_blocking_time = reliability.max_blocking_time.saturating_add(1);
+            Some(reliability)
+        }
+    };
+
+    writer_qos
+}
diff --git a/zenoh-plugin-ros2dds/src/ros2_utils.rs b/zenoh-plugin-ros2dds/src/ros2_utils.rs
new file mode 100644
index 0000000..5e4a23b
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/ros2_utils.rs
@@ -0,0 +1,148 @@
+//
+// 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>
+//
+
+use zenoh::prelude::KeyExpr;
+
+/// Convert DDS Topic type to ROS2 Message type
+pub fn dds_type_to_ros2_message_type(dds_topic: &str) -> String {
+    let result = dds_topic.replace("::dds_::", "::").replace("::", "/");
+    if result.ends_with('_') {
+        result[..result.len() - 1].into()
+    } else {
+        result
+    }
+}
+
+/// Convert ROS2 Message type to DDS Topic type
+///
+/// # Examples
+pub fn ros2_message_type_to_dds_type(ros_topic: &str) -> String {
+    let mut result = ros_topic.replace("/", "::");
+    result
+        .rfind(':')
+        .map(|pos| result.insert_str(pos + 1, "dds_::"));
+    result.push('_');
+    result
+}
+
+/// Convert DDS Topic type for ROS2 Service to ROS2 Service type
+pub fn dds_type_to_ros2_service_type(dds_topic: &str) -> String {
+    dds_type_to_ros2_message_type(
+        dds_topic
+            .strip_suffix("_Request_")
+            .or(dds_topic.strip_suffix("_Response_"))
+            .unwrap_or(dds_topic),
+    )
+}
+
+/// Convert DDS Topic type for ROS2 Action to ROS2 Action type
+/// Warning: can't work for "rt/.../_action/status", "rq/.../_action/cancel_goalRequest"
+/// or "rr../_action/cancel_goalReply" topic, since their types are generic
+pub fn dds_type_to_ros2_action_type(dds_topic: &str) -> String {
+    dds_type_to_ros2_message_type(
+        dds_topic
+            .strip_suffix("_SendGoal_Request_")
+            .or(dds_topic.strip_suffix("_SendGoal_Response_"))
+            .or(dds_topic.strip_suffix("_GetResult_Request_"))
+            .or(dds_topic.strip_suffix("_GetResult_Response_"))
+            .or(dds_topic.strip_suffix("_FeedbackMessage_"))
+            .unwrap_or(dds_topic),
+    )
+}
+
+// check if name is a ROS name: starting with '/' and useable as a key expression (removing 1st '/')
+#[inline]
+pub fn check_ros_name(name: &str) -> Result<(), String> {
+    if !name.starts_with('/') || KeyExpr::try_from("&(name[1..])").is_err() {
+        Err(format!(
+            "'{name}' cannot be converted as a Zenoh key expression"
+        ))
+    } else {
+        Ok(())
+    }
+}
+
+mod tests {
+
+    #[test]
+    fn test_types_conversions() {
+        use crate::ros2_utils::*;
+
+        assert_eq!(
+            dds_type_to_ros2_message_type("geometry_msgs::msg::dds_::Twist_"),
+            "geometry_msgs/msg/Twist"
+        );
+        assert_eq!(
+            dds_type_to_ros2_message_type("rcl_interfaces::msg::dds_::Log_"),
+            "rcl_interfaces/msg/Log"
+        );
+
+        assert_eq!(
+            ros2_message_type_to_dds_type("geometry_msgs/msg/Twist"),
+            "geometry_msgs::msg::dds_::Twist_"
+        );
+        assert_eq!(
+            ros2_message_type_to_dds_type("rcl_interfaces/msg/Log"),
+            "rcl_interfaces::msg::dds_::Log_"
+        );
+
+        assert_eq!(
+            dds_type_to_ros2_service_type("example_interfaces::srv::dds_::AddTwoInts_Request_"),
+            "example_interfaces/srv/AddTwoInts"
+        );
+        assert_eq!(
+            dds_type_to_ros2_service_type("example_interfaces::srv::dds_::AddTwoInts_Response_"),
+            "example_interfaces/srv/AddTwoInts"
+        );
+        assert_eq!(
+            dds_type_to_ros2_service_type("rcl_interfaces::srv::dds_::ListParameters_Request_"),
+            "rcl_interfaces/srv/ListParameters"
+        );
+        assert_eq!(
+            dds_type_to_ros2_service_type("rcl_interfaces::srv::dds_::ListParameters_Response_"),
+            "rcl_interfaces/srv/ListParameters"
+        );
+
+        assert_eq!(
+            dds_type_to_ros2_action_type(
+                "example_interfaces::action::dds_::Fibonacci_SendGoal_Request_"
+            ),
+            "example_interfaces/action/Fibonacci"
+        );
+        assert_eq!(
+            dds_type_to_ros2_action_type(
+                "example_interfaces::action::dds_::Fibonacci_SendGoal_Response_"
+            ),
+            "example_interfaces/action/Fibonacci"
+        );
+        assert_eq!(
+            dds_type_to_ros2_action_type(
+                "example_interfaces::action::dds_::Fibonacci_GetResult_Request_"
+            ),
+            "example_interfaces/action/Fibonacci"
+        );
+        assert_eq!(
+            dds_type_to_ros2_action_type(
+                "example_interfaces::action::dds_::Fibonacci_GetResult_Response_"
+            ),
+            "example_interfaces/action/Fibonacci"
+        );
+        assert_eq!(
+            dds_type_to_ros2_action_type(
+                "example_interfaces::action::dds_::Fibonacci_FeedbackMessage_"
+            ),
+            "example_interfaces/action/Fibonacci"
+        );
+    }
+}
diff --git a/zenoh-plugin-ros2dds/src/ros_discovery.rs b/zenoh-plugin-ros2dds/src/ros_discovery.rs
new file mode 100644
index 0000000..10236d4
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/ros_discovery.rs
@@ -0,0 +1,644 @@
+use crate::{ChannelEvent, ROS_DISCOVERY_INFO_PUSH_INTERVAL_MS};
+//
+// 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>
+//
+use crate::dds_discovery::{delete_dds_entity, get_guid, DDSRawSample};
+use crate::gid::Gid;
+use async_std::task;
+use cdr::{CdrLe, Infinite};
+use cyclors::qos::{
+    Durability, History, IgnoreLocal, IgnoreLocalKind, Qos, Reliability, DDS_INFINITE_TIME,
+};
+use cyclors::*;
+use flume::{unbounded, Receiver, Sender};
+use futures::select;
+use serde::ser::SerializeSeq;
+use serde::{Deserialize, Deserializer, Serialize, Serializer};
+use std::collections::HashSet;
+use std::convert::TryInto;
+use std::sync::Arc;
+use std::sync::RwLock;
+use std::time::Duration;
+use std::{
+    collections::HashMap,
+    ffi::{CStr, CString},
+    mem::MaybeUninit,
+};
+use zenoh::buffers::ZBuf;
+use zenoh::prelude::HasReader;
+use zenoh_core::zwrite;
+use zenoh_util::{TimedEvent, Timer};
+
+pub const ROS_DISCOVERY_INFO_TOPIC_NAME: &str = "ros_discovery_info";
+const ROS_DISCOVERY_INFO_TOPIC_TYPE: &str = "rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_";
+
+pub struct RosDiscoveryInfoMgr {
+    reader: dds_entity_t,
+    writer: dds_entity_t,
+    // This bridge Node fullname, as used as index in participant_entities_info.node_entities_info_seq
+    node_fullname: String,
+    // The ParticipantEntitiesInfo to publish on "ros_discovery_info" topic when changed,
+    // plus a bool indicating if it changed
+    participant_entities_state: Arc<RwLock<(ParticipantEntitiesInfo, bool)>>,
+}
+
+impl Drop for RosDiscoveryInfoMgr {
+    fn drop(&mut self) {
+        if let Err(e) = delete_dds_entity(self.reader) {
+            log::warn!(
+                "Error dropping DDS reader on {}: {}",
+                ROS_DISCOVERY_INFO_TOPIC_NAME,
+                e
+            );
+        }
+        if let Err(e) = delete_dds_entity(self.writer) {
+            log::warn!(
+                "Error dropping DDS writer on {}: {}",
+                ROS_DISCOVERY_INFO_TOPIC_NAME,
+                e
+            );
+        }
+    }
+}
+
+impl RosDiscoveryInfoMgr {
+    pub fn new(
+        participant: dds_entity_t,
+        namespace: &str,
+        node_name: &str,
+    ) -> Result<RosDiscoveryInfoMgr, String> {
+        let cton = CString::new(ROS_DISCOVERY_INFO_TOPIC_NAME)
+            .unwrap()
+            .into_raw();
+        let ctyn = CString::new(ROS_DISCOVERY_INFO_TOPIC_TYPE)
+            .unwrap()
+            .into_raw();
+
+        unsafe {
+            // Create topic (for reader/writer creation)
+            let t = cdds_create_blob_topic(participant, cton, ctyn, true);
+
+            // Create reader
+            let mut qos = Qos::default();
+            qos.reliability = Some(Reliability {
+                kind: qos::ReliabilityKind::RELIABLE,
+                max_blocking_time: DDS_INFINITE_TIME,
+            });
+            qos.durability = Some(Durability {
+                kind: qos::DurabilityKind::TRANSIENT_LOCAL,
+            });
+            // Note: KEEP_ALL to not loose any sample (topic is keyless). A periodic task should take samples from history.
+            qos.history = Some(History {
+                kind: qos::HistoryKind::KEEP_ALL,
+                depth: 0,
+            });
+            qos.ignore_local = Some(IgnoreLocal {
+                kind: IgnoreLocalKind::PARTICIPANT,
+            });
+            let qos_native = qos.to_qos_native();
+            let reader = dds_create_reader(participant, t, qos_native, std::ptr::null());
+            Qos::delete_qos_native(qos_native);
+            if reader < 0 {
+                return Err(format!(
+                    "Error creating DDS Reader on {}: {}",
+                    ROS_DISCOVERY_INFO_TOPIC_NAME,
+                    CStr::from_ptr(dds_strretcode(-reader))
+                        .to_str()
+                        .unwrap_or("unrecoverable DDS retcode")
+                ));
+            }
+
+            // Create writer
+            let mut qos = Qos::default();
+            qos.reliability = Some(Reliability {
+                kind: qos::ReliabilityKind::RELIABLE,
+                max_blocking_time: DDS_INFINITE_TIME,
+            });
+            qos.durability = Some(Durability {
+                kind: qos::DurabilityKind::TRANSIENT_LOCAL,
+            });
+            qos.history = Some(History {
+                kind: qos::HistoryKind::KEEP_LAST,
+                depth: 1,
+            });
+            qos.ignore_local = Some(IgnoreLocal {
+                kind: IgnoreLocalKind::PARTICIPANT,
+            });
+            let qos_native = qos.to_qos_native();
+            let writer = dds_create_writer(participant, t, qos_native, std::ptr::null());
+            Qos::delete_qos_native(qos_native);
+            if writer < 0 {
+                return Err(format!(
+                    "Error creating DDS Writer on {}: {}",
+                    ROS_DISCOVERY_INFO_TOPIC_NAME,
+                    CStr::from_ptr(dds_strretcode(-writer))
+                        .to_str()
+                        .unwrap_or("unrecoverable DDS retcode")
+                ));
+            }
+
+            drop(CString::from_raw(cton));
+            drop(CString::from_raw(ctyn));
+
+            let gid = get_guid(&participant)?;
+            let mut participant_entities_info = ParticipantEntitiesInfo::new(gid);
+            let node_info = NodeEntitiesInfo::new(namespace.to_string(), node_name.to_string());
+            let node_fullname = node_info.to_string();
+            participant_entities_info
+                .node_entities_info_seq
+                .insert(node_fullname.clone(), node_info);
+
+            Ok(RosDiscoveryInfoMgr {
+                reader,
+                writer,
+                node_fullname,
+                participant_entities_state: Arc::new(RwLock::new((
+                    participant_entities_info,
+                    true,
+                ))),
+            })
+        }
+    }
+
+    pub async fn run(&self) {
+        let writer = self.writer;
+        let participant_entities_state = self.participant_entities_state.clone();
+        task::spawn(async move {
+            // Timer for periodic write of "ros_discovery_info" topic
+            let timer = Timer::default();
+            let (tx, ros_disco_timer_rcv): (Sender<()>, Receiver<()>) = unbounded();
+            let ros_disco_timer_event = TimedEvent::periodic(
+                Duration::from_millis(ROS_DISCOVERY_INFO_PUSH_INTERVAL_MS),
+                ChannelEvent { tx },
+            );
+            timer.add_async(ros_disco_timer_event).await;
+
+            loop {
+                select!(
+                    _ = ros_disco_timer_rcv.recv_async() => {
+                        let (ref msg, ref mut has_changed) = *zwrite!(participant_entities_state);
+                        if *has_changed {
+                            log::debug!("Publish update on 'ros_discovery_info': {msg:?}");
+                            Self::write(writer, msg).unwrap_or_else(|e|
+                                log::error!("Failed to publish update on 'ros_discovery_info' topic: {e}")
+                            );
+                            *has_changed = false;
+                        }
+
+                    }
+                )
+            }
+        });
+    }
+
+    pub fn add_dds_writer(&self, gid: Gid) {
+        let (ref mut info, ref mut has_changed) = *zwrite!(self.participant_entities_state);
+        info.node_entities_info_seq
+            .get_mut(&self.node_fullname)
+            .unwrap()
+            .writer_gid_seq
+            .insert(gid);
+        *has_changed = true;
+    }
+
+    pub fn remove_dds_writer(&self, gid: Gid) {
+        let (ref mut info, ref mut has_changed) = *zwrite!(self.participant_entities_state);
+        info.node_entities_info_seq
+            .get_mut(&self.node_fullname)
+            .unwrap()
+            .writer_gid_seq
+            .remove(&gid);
+        *has_changed = true;
+    }
+
+    pub fn add_dds_reader(&self, gid: Gid) {
+        let (ref mut info, ref mut has_changed) = *zwrite!(self.participant_entities_state);
+        info.node_entities_info_seq
+            .get_mut(&self.node_fullname)
+            .unwrap()
+            .reader_gid_seq
+            .insert(gid);
+        *has_changed = true;
+    }
+
+    pub fn remove_dds_reader(&self, gid: Gid) {
+        let (ref mut info, ref mut has_changed) = *zwrite!(self.participant_entities_state);
+        info.node_entities_info_seq
+            .get_mut(&self.node_fullname)
+            .unwrap()
+            .reader_gid_seq
+            .remove(&gid);
+        *has_changed = true;
+    }
+
+    pub fn read(&self) -> Vec<ParticipantEntitiesInfo> {
+        unsafe {
+            let mut zp: *mut ddsi_serdata = std::ptr::null_mut();
+            #[allow(clippy::uninit_assumed_init)]
+            let mut si = MaybeUninit::<[dds_sample_info_t; 1]>::uninit();
+            // Place read samples into a map indexed by Participant gid.
+            // Thus we only keep the last (not deserialized) update for each
+            let mut map: HashMap<String, DDSRawSample> = HashMap::new();
+            while dds_takecdr(
+                self.reader,
+                &mut zp,
+                1,
+                si.as_mut_ptr() as *mut dds_sample_info_t,
+                DDS_ANY_STATE,
+            ) > 0
+            {
+                let si = si.assume_init();
+                if si[0].valid_data {
+                    let raw_sample = DDSRawSample::create(zp);
+
+                    // No need to deserialize the full payload. Just read the Participant gid (first 16 bytes of the payload)
+                    let gid = hex::encode(&raw_sample.payload_as_slice()[0..16]);
+
+                    map.insert(gid, raw_sample);
+                }
+                ddsi_serdata_unref(zp);
+            }
+
+            map.values()
+                .into_iter()
+                .filter_map(|sample| {
+                    log::trace!("Deserialize ParticipantEntitiesInfo: {:?}", sample);
+                    match cdr::deserialize_from::<_, ParticipantEntitiesInfo, _>(
+                        ZBuf::from(sample).reader(),
+                        cdr::size::Infinite,
+                    ) {
+                        Ok(i) => Some(i),
+                        Err(e) => {
+                            log::warn!(
+                                "Error receiving ParticipantEntitiesInfo on ros_discovery_info: {}",
+                                e
+                            );
+                            None
+                        }
+                    }
+                })
+                .collect()
+        }
+    }
+
+    fn write(writer: dds_entity_t, info: &ParticipantEntitiesInfo) -> Result<(), String> {
+        unsafe {
+            let buf = cdr::serialize::<_, _, CdrLe>(info, Infinite)
+                .map_err(|e| format!("Error serializing ParticipantEntitiesInfo: {e}"))?;
+
+            let mut sertype: *const ddsi_sertype = std::ptr::null_mut();
+            let ret = dds_get_entity_sertype(writer, &mut sertype);
+            if ret < 0 {
+                return Err(format!(
+                    "Error creating payload for ParticipantEntitiesInfo: {}",
+                    CStr::from_ptr(dds_strretcode(ret))
+                        .to_str()
+                        .unwrap_or("unrecoverable DDS retcode")
+                ));
+            }
+
+            // As per the Vec documentation (see https://doc.rust-lang.org/std/vec/struct.Vec.html#method.into_raw_parts)
+            // the only way to correctly releasing it is to create a vec using from_raw_parts
+            // and then have its destructor do the cleanup.
+            // Thus, while tempting to just pass the raw pointer to cyclone and then free it from C,
+            // that is not necessarily safe or guaranteed to be leak free.
+            // TODO replace when stable https://github.com/rust-lang/rust/issues/65816
+            let (ptr, len, capacity) = crate::vec_into_raw_parts(buf);
+            let size: ddsrt_iov_len_t = len.try_into().map_err(|e| {
+                format!("Error creating payload for ParticipantEntitiesInfo, excessive payload size: {e}")
+            })?;
+
+            let data_out = ddsrt_iovec_t {
+                iov_base: ptr as *mut std::ffi::c_void,
+                iov_len: size,
+            };
+
+            let fwdp = ddsi_serdata_from_ser_iov(
+                sertype,
+                ddsi_serdata_kind_SDK_DATA,
+                1,
+                &data_out,
+                size as usize,
+            );
+            dds_writecdr(writer, fwdp);
+            drop(Vec::from_raw_parts(ptr, len, capacity));
+            Ok(())
+        }
+    }
+}
+
+#[derive(Serialize, Deserialize, Clone)]
+pub struct NodeEntitiesInfo {
+    pub node_namespace: String,
+    pub node_name: String,
+    #[serde(
+        serialize_with = "serialize_ros_gids",
+        deserialize_with = "deserialize_ros_gids"
+    )]
+    pub reader_gid_seq: HashSet<Gid>,
+    #[serde(
+        serialize_with = "serialize_ros_gids",
+        deserialize_with = "deserialize_ros_gids"
+    )]
+    pub writer_gid_seq: HashSet<Gid>,
+}
+
+impl NodeEntitiesInfo {
+    pub fn new(node_namespace: String, node_name: String) -> NodeEntitiesInfo {
+        NodeEntitiesInfo {
+            node_namespace,
+            node_name,
+            reader_gid_seq: HashSet::new(),
+            writer_gid_seq: HashSet::new(),
+        }
+    }
+
+    pub fn full_name(&self) -> String {
+        format!(
+            "{}/{}",
+            if &self.node_namespace == "/" {
+                ""
+            } else {
+                &self.node_namespace
+            },
+            self.node_name,
+        )
+    }
+}
+
+impl std::fmt::Display for NodeEntitiesInfo {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(
+            f,
+            "{}/{}",
+            if &self.node_namespace == "/" {
+                ""
+            } else {
+                &self.node_namespace
+            },
+            self.node_name,
+        )?;
+        Ok(())
+    }
+}
+
+impl std::fmt::Debug for NodeEntitiesInfo {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        writeln!(
+            f,
+            "Node {}/{} :",
+            if &self.node_namespace == "/" {
+                ""
+            } else {
+                &self.node_namespace
+            },
+            self.node_name,
+        )?;
+        writeln!(f, "  {} pubs:", self.writer_gid_seq.len())?;
+        for i in &self.writer_gid_seq {
+            writeln!(f, "    {}", i)?;
+        }
+        writeln!(f, "  {} subs:", self.reader_gid_seq.len())?;
+        for i in &self.reader_gid_seq {
+            writeln!(f, "    {}", i)?;
+        }
+        Ok(())
+    }
+}
+
+#[derive(Serialize, Deserialize, Clone)]
+pub struct ParticipantEntitiesInfo {
+    #[serde(
+        serialize_with = "serialize_ros_gid",
+        deserialize_with = "deserialize_ros_gid"
+    )]
+    pub gid: Gid,
+    #[serde(
+        serialize_with = "serialize_node_entities_info_seq",
+        deserialize_with = "deserialize_node_entities_info_seq"
+    )]
+    pub node_entities_info_seq: HashMap<String, NodeEntitiesInfo>,
+}
+
+impl ParticipantEntitiesInfo {
+    pub fn new(gid: Gid) -> Self {
+        ParticipantEntitiesInfo {
+            gid,
+            node_entities_info_seq: HashMap::new(),
+        }
+    }
+}
+
+impl std::fmt::Display for ParticipantEntitiesInfo {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "participant {} with nodes: [", self.gid)?;
+        for (name, _) in self.node_entities_info_seq.iter().take(1) {
+            write!(f, "{}", name)?;
+        }
+        for (name, _) in self.node_entities_info_seq.iter().skip(1) {
+            write!(f, ", {}", name)?;
+        }
+        write!(f, "]")?;
+        Ok(())
+    }
+}
+
+impl std::fmt::Debug for ParticipantEntitiesInfo {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        writeln!(f, "participant {} :", self.gid)?;
+        for i in self.node_entities_info_seq.values() {
+            write!(f, "{i:?}")?;
+        }
+        Ok(())
+    }
+}
+
+const BYTES_8: [u8; 8] = [0u8, 0, 0, 0, 0, 0, 0, 0];
+
+fn serialize_ros_gid<S>(gid: &Gid, serializer: S) -> Result<S::Ok, S::Error>
+where
+    S: Serializer,
+{
+    if serializer.is_human_readable() {
+        gid.serialize(serializer)
+    } else {
+        // Data size for gid in ROS messages in 24 bytes, while a DDS gid is 16 bytes.
+        // Rely on "impl Serialize for Gid" for the 16 bytes, and add the last 8 bytes.
+        Serialize::serialize(&(gid, &BYTES_8), serializer)
+    }
+}
+
+fn deserialize_ros_gid<'de, D>(deserializer: D) -> Result<Gid, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    if deserializer.is_human_readable() {
+        // Rely on impl<'de> Deserialize<'de> for Gid
+        Deserialize::deserialize(deserializer)
+    } else {
+        // Data size for gid in ROS messages in 24 bytes, while a DDS gid is 16 bytes.
+        // Rely on "impl<'de> Deserialize<'de> for Gid" for the 16 bytes, and ignore the last 8 bytes
+        let (result, _ignore): (Gid, [u8; 8]) = Deserialize::deserialize(deserializer)?;
+        Ok(result)
+    }
+}
+
+fn serialize_ros_gids<S>(gids: &HashSet<Gid>, serializer: S) -> Result<S::Ok, S::Error>
+where
+    S: Serializer,
+{
+    let is_human_readable = serializer.is_human_readable();
+    let mut seq: <S as Serializer>::SerializeSeq = serializer.serialize_seq(Some(gids.len()))?;
+    for gid in gids {
+        if is_human_readable {
+            seq.serialize_element(gid)?;
+        } else {
+            // Data size for gid in ROS messages in 24 bytes, while a DDS gid is 16 bytes.
+            // Rely on "impl Serialize for Gid" for the 16 bytes, and add the last 8 bytes.
+            seq.serialize_element(&(gid, &BYTES_8))?;
+        }
+    }
+    seq.end()
+}
+
+fn deserialize_ros_gids<'de, D>(deserializer: D) -> Result<HashSet<Gid>, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    if deserializer.is_human_readable() {
+        Deserialize::deserialize(deserializer)
+    } else {
+        // Data size for gid in ROS messages in 24 bytes, while a DDS gid is 16 bytes.
+        // Deserialize as Vec<[u8; 24]>, consider 16 bytes only for each
+        let ros_gids: Vec<[u8; 24]> = Deserialize::deserialize(deserializer)?;
+        // NOTE: a DDS gid is 16 bytes only. ignore the last 8 bytes
+        Ok(ros_gids
+            .iter()
+            .map(|ros_gid| {
+                TryInto::<&[u8; 16]>::try_into(&ros_gid[..16])
+                    .unwrap()
+                    .into()
+            })
+            .collect())
+    }
+}
+
+fn serialize_node_entities_info_seq<S>(
+    entities: &HashMap<String, NodeEntitiesInfo>,
+    serializer: S,
+) -> Result<S::Ok, S::Error>
+where
+    S: Serializer,
+{
+    let mut seq = serializer.serialize_seq(Some(entities.len()))?;
+    for entity in entities.values() {
+        seq.serialize_element(entity)?;
+    }
+    seq.end()
+}
+
+fn deserialize_node_entities_info_seq<'de, D>(
+    deserializer: D,
+) -> Result<HashMap<String, NodeEntitiesInfo>, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    let mut entities: Vec<NodeEntitiesInfo> = Deserialize::deserialize(deserializer)?;
+    let mut map: HashMap<String, NodeEntitiesInfo> = HashMap::with_capacity(entities.len());
+    for entity in entities.drain(..) {
+        map.insert(entity.full_name(), entity);
+    }
+    Ok(map)
+}
+
+mod tests {
+
+    #[test]
+    fn test_serde() {
+        use super::*;
+        use std::str::FromStr;
+
+        // ros_discovery_message sent by a component_container node started as such:
+        //   - ros2 run rclcpp_components component_container --ros-args --remap __ns:=/TEST
+        //   - ros2 component load /TEST/ComponentManager composition composition::Listener
+        //   - ros2 component load /TEST/ComponentManager composition composition::Talker
+        let ros_discovery_info_cdr: Vec<u8> = hex::decode(
+            "000100000110de17b1eaf995400c9ac8000001c1000000000000000003000000\
+            060000002f5445535400000011000000436f6d706f6e656e744d616e61676572\
+            00000000040000000110de17b1eaf995400c9ac8000007040000000000000000\
+            0110de17b1eaf995400c9ac80000090400000000000000000110de17b1eaf995\
+            400c9ac800000b0400000000000000000110de17b1eaf995400c9ac800000d04\
+            0000000000000000040000000110de17b1eaf995400c9ac80000060300000000\
+            000000000110de17b1eaf995400c9ac80000080300000000000000000110de17\
+            b1eaf995400c9ac800000a0300000000000000000110de17b1eaf995400c9ac8\
+            00000c030000000000000000020000002f000000090000006c697374656e6572\
+            00000000080000000110de17b1eaf995400c9ac8000010040000000000000000\
+            0110de17b1eaf995400c9ac80000120400000000000000000110de17b1eaf995\
+            400c9ac80000140400000000000000000110de17b1eaf995400c9ac800001604\
+            00000000000000000110de17b1eaf995400c9ac8000018040000000000000000\
+            0110de17b1eaf995400c9ac800001a0400000000000000000110de17b1eaf995\
+            400c9ac800001c0400000000000000000110de17b1eaf995400c9ac800001d04\
+            0000000000000000080000000110de17b1eaf995400c9ac800000e0300000000\
+            000000000110de17b1eaf995400c9ac800000f0300000000000000000110de17\
+            b1eaf995400c9ac80000110300000000000000000110de17b1eaf995400c9ac8\
+            0000130300000000000000000110de17b1eaf995400c9ac80000150300000000\
+            000000000110de17b1eaf995400c9ac80000170300000000000000000110de17\
+            b1eaf995400c9ac80000190300000000000000000110de17b1eaf995400c9ac8\
+            00001b030000000000000000020000002f0000000700000074616c6b65720000\
+            070000000110de17b1eaf995400c9ac80000200400000000000000000110de17\
+            b1eaf995400c9ac80000220400000000000000000110de17b1eaf995400c9ac8\
+            0000240400000000000000000110de17b1eaf995400c9ac80000260400000000\
+            000000000110de17b1eaf995400c9ac80000280400000000000000000110de17\
+            b1eaf995400c9ac800002a0400000000000000000110de17b1eaf995400c9ac8\
+            00002c040000000000000000090000000110de17b1eaf995400c9ac800001e03\
+            00000000000000000110de17b1eaf995400c9ac800001f030000000000000000\
+            0110de17b1eaf995400c9ac80000210300000000000000000110de17b1eaf995\
+            400c9ac80000230300000000000000000110de17b1eaf995400c9ac800002503\
+            00000000000000000110de17b1eaf995400c9ac8000027030000000000000000\
+            0110de17b1eaf995400c9ac80000290300000000000000000110de17b1eaf995\
+            400c9ac800002b0300000000000000000110de17b1eaf995400c9ac800002d03\
+            0000000000000000",
+        )
+        .unwrap();
+
+        let part_info: ParticipantEntitiesInfo = cdr::deserialize(&ros_discovery_info_cdr).unwrap();
+        println!("{:?}", part_info);
+
+        assert_eq!(
+            part_info.gid,
+            Gid::from_str("0110de17b1eaf995400c9ac8000001c1").unwrap()
+        );
+        assert_eq!(part_info.node_entities_info_seq.len(), 3);
+
+        let node_componentmgr = part_info
+            .node_entities_info_seq
+            .get("/TEST/ComponentManager")
+            .unwrap();
+        assert_eq!(node_componentmgr.node_namespace, "/TEST");
+        assert_eq!(node_componentmgr.node_name, "ComponentManager");
+        assert_eq!(node_componentmgr.reader_gid_seq.len(), 4);
+        assert_eq!(node_componentmgr.writer_gid_seq.len(), 4);
+
+        let node_listener = part_info.node_entities_info_seq.get("/listener").unwrap();
+        assert_eq!(node_listener.node_namespace, "/");
+        assert_eq!(node_listener.node_name, "listener");
+        assert_eq!(node_listener.reader_gid_seq.len(), 8);
+        assert_eq!(node_listener.writer_gid_seq.len(), 8);
+
+        let node_talker = part_info.node_entities_info_seq.get("/talker").unwrap();
+        assert_eq!(node_talker.node_namespace, "/");
+        assert_eq!(node_talker.node_name, "talker");
+        assert_eq!(node_talker.reader_gid_seq.len(), 7);
+        assert_eq!(node_talker.writer_gid_seq.len(), 9);
+    }
+}
diff --git a/zenoh-plugin-ros2dds/src/route_publisher.rs b/zenoh-plugin-ros2dds/src/route_publisher.rs
new file mode 100644
index 0000000..4851b85
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/route_publisher.rs
@@ -0,0 +1,344 @@
+//
+// 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>
+//
+
+use cyclors::qos::{HistoryKind, Qos};
+use cyclors::{dds_entity_t, DDS_LENGTH_UNLIMITED};
+use serde::Serialize;
+use std::sync::Arc;
+use std::time::Duration;
+use std::{collections::HashSet, fmt};
+use zenoh::liveliness::LivelinessToken;
+use zenoh::prelude::r#async::AsyncResolve;
+use zenoh::prelude::*;
+use zenoh_ext::{PublicationCache, SessionExt};
+
+use crate::gid::Gid;
+use crate::liveliness_mgt::new_ke_liveliness_pub;
+use crate::ros2_utils::ros2_message_type_to_dds_type;
+use crate::{dds_discovery::*, qos_helpers::*, Config};
+use crate::{serialize_option_as_bool, KE_PREFIX_PUB_CACHE};
+
+enum ZPublisher<'a> {
+    Publisher(KeyExpr<'a>),
+    PublicationCache(PublicationCache<'a>),
+}
+
+// a route from DDS to Zenoh
+#[allow(clippy::upper_case_acronyms)]
+#[derive(Serialize)]
+pub struct RoutePublisher<'a> {
+    // the ROS2 Publisher name
+    ros2_name: String,
+    // the ROS2 type
+    ros2_type: String,
+    // the Zenoh key expression used for routing
+    zenoh_key_expr: OwnedKeyExpr,
+    // the zenoh session
+    #[serde(skip)]
+    zsession: &'a Arc<Session>,
+    // the config
+    #[serde(skip)]
+    config: Arc<Config>,
+    // the zenoh publisher used to re-publish to zenoh the data received by the DDS Reader
+    // `None` when route is created on a remote announcement and no local ROS2 Subscriber discovered yet
+    #[serde(rename = "is_active", serialize_with = "serialize_option_as_bool")]
+    zenoh_publisher: Option<ZPublisher<'a>>,
+    // the local DDS Reader created to serve the route (i.e. re-publish to zenoh data coming from DDS)
+    #[serde(serialize_with = "serialize_entity_guid")]
+    dds_reader: dds_entity_t,
+    // if the Reader is TRANSIENT_LOCAL
+    transient_local: bool,
+    // if the topic is keyless
+    #[serde(skip)]
+    keyless: bool,
+    // a liveliness token associated to this route, for announcement to other plugins
+    #[serde(skip)]
+    liveliness_token: Option<LivelinessToken<'a>>,
+    // the list of remote routes served by this route ("<plugin_id>:<zenoh_key_expr>"")
+    remote_routes: HashSet<String>,
+    // the list of nodes served by this route
+    local_nodes: HashSet<String>,
+}
+
+impl Drop for RoutePublisher<'_> {
+    fn drop(&mut self) {
+        if let Err(e) = delete_dds_entity(self.dds_reader) {
+            log::warn!("{}: error deleting DDS Reader:  {}", self, e);
+        }
+    }
+}
+
+impl fmt::Display for RoutePublisher<'_> {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        write!(
+            f,
+            "Route Publisher (ROS:{} -> Zenoh:{})",
+            self.ros2_name, self.zenoh_key_expr
+        )
+    }
+}
+
+impl RoutePublisher<'_> {
+    #[allow(clippy::too_many_arguments)]
+    pub async fn create<'a>(
+        config: Arc<Config>,
+        zsession: &'a Arc<Session>,
+        participant: dds_entity_t,
+        ros2_name: String,
+        ros2_type: String,
+        zenoh_key_expr: OwnedKeyExpr,
+        type_info: &Option<Arc<TypeInfo>>,
+        keyless: bool,
+        reader_qos: Qos,
+    ) -> Result<RoutePublisher<'a>, String> {
+        let transient_local = is_transient_local(&reader_qos);
+        log::debug!(
+            "Route Publisher ({ros2_name} -> {zenoh_key_expr}): creation with type {ros2_type}"
+        );
+
+        // declare the zenoh key expression (for wire optimization)
+        let declared_ke = zsession
+            .declare_keyexpr(zenoh_key_expr.clone())
+            .res()
+            .await
+            .map_err(|e| {
+                format!("Route Publisher ({ros2_name} -> {zenoh_key_expr}): failed to declare KeyExpr: {e}")
+            })?;
+
+        // CongestionControl to be used when re-publishing over zenoh: Blocking if Writer is RELIABLE (since we don't know what is remote Reader's QoS)
+        let congestion_ctrl = match (
+            config.reliable_routes_blocking,
+            is_reader_reliable(&reader_qos.reliability),
+        ) {
+            (true, true) => CongestionControl::Block,
+            _ => CongestionControl::Drop,
+        };
+
+        let topic_name = format!("rt{ros2_name}");
+        let type_name = ros2_message_type_to_dds_type(&ros2_type);
+        let read_period = get_read_period(&config, &zenoh_key_expr);
+
+        // create matching DDS Reader that forwards data coming from DDS to Zenoh
+        let dds_reader = create_forwarding_dds_reader(
+            participant,
+            topic_name,
+            type_name,
+            type_info,
+            keyless,
+            reader_qos.clone(),
+            declared_ke.clone(),
+            zsession.clone(),
+            read_period,
+            congestion_ctrl,
+        )?;
+
+        Ok(RoutePublisher {
+            ros2_name,
+            ros2_type,
+            dds_reader,
+            zenoh_key_expr,
+            zsession,
+            config,
+            zenoh_publisher: None,
+            transient_local,
+            keyless,
+            liveliness_token: None,
+            remote_routes: HashSet::new(),
+            local_nodes: HashSet::new(),
+        })
+    }
+
+    async fn activate<'a>(
+        &'a mut self,
+        plugin_id: &keyexpr,
+        discovered_writer_qos: &Qos,
+    ) -> Result<(), String> {
+        // For lifetime issue, redeclare the zenoh key expression that can't be stored in Self
+        let declared_ke = self
+            .zsession
+            .declare_keyexpr(self.zenoh_key_expr.clone())
+            .res()
+            .await
+            .map_err(|e| {
+                format!(
+                    "Route Publisher (ROS:{} -> Zenoh:{}): failed to declare KeyExpr: {e}",
+                    self.ros2_name, self.zenoh_key_expr
+                )
+            })?;
+
+        // create the zenoh Publisher
+        // if Reader is TRANSIENT_LOCAL, use a PublicationCache to store historical data
+        self.zenoh_publisher = if self.transient_local {
+            #[allow(non_upper_case_globals)]
+            let history_qos = get_history_or_default(discovered_writer_qos);
+            let durability_service_qos = get_durability_service_or_default(discovered_writer_qos);
+            let mut history = match (history_qos.kind, history_qos.depth) {
+                (HistoryKind::KEEP_LAST, n) => {
+                    if self.keyless {
+                        // only 1 instance => history=n
+                        n as usize
+                    } else if durability_service_qos.max_instances == DDS_LENGTH_UNLIMITED {
+                        // No limit! => history=MAX
+                        usize::MAX
+                    } else if durability_service_qos.max_instances > 0 {
+                        // Compute cache size as history.depth * durability_service.max_instances
+                        // This makes the assumption that the frequency of publication is the same for all instances...
+                        // But as we have no way to have 1 cache per-instance, there is no other choice.
+                        n.saturating_mul(durability_service_qos.max_instances) as usize
+                    } else {
+                        n as usize
+                    }
+                }
+                (HistoryKind::KEEP_ALL, _) => usize::MAX,
+            };
+            // In case there are several Writers served by this route, increase the cache size
+            history = history.saturating_mul(self.config.transient_local_cache_multiplier);
+            log::debug!(
+                "{self}: caching TRANSIENT_LOCAL publications via a PublicationCache with history={history} (computed from Reader's QoS: history=({:?},{}), durability_service.max_instances={})",
+                history_qos.kind, history_qos.depth, durability_service_qos.max_instances
+            );
+            let pub_cache = self
+                .zsession
+                .declare_publication_cache(&declared_ke)
+                .history(history)
+                .queryable_prefix(*KE_PREFIX_PUB_CACHE / plugin_id)
+                .queryable_allowed_origin(Locality::Remote) // Note: don't reply to queries from local QueryingSubscribers
+                .res()
+                .await
+                .map_err(|e| {
+                    format!(
+                        "Failed create PublicationCache for key {} (rid={}): {e}",
+                        self.zenoh_key_expr, declared_ke
+                    )
+                })?;
+            Some(ZPublisher::PublicationCache(pub_cache))
+        } else {
+            if let Err(e) = self
+                .zsession
+                .declare_publisher(declared_ke.clone())
+                .res()
+                .await
+            {
+                log::warn!(
+                    "Failed to declare publisher for key {} (rid={}): {}",
+                    self.zenoh_key_expr,
+                    declared_ke,
+                    e
+                );
+            }
+            Some(ZPublisher::Publisher(declared_ke.clone()))
+        };
+
+        // create associated LivelinessToken
+        let liveliness_ke = new_ke_liveliness_pub(
+            plugin_id,
+            &self.zenoh_key_expr,
+            &self.ros2_type,
+            self.keyless,
+            &discovered_writer_qos,
+        )?;
+        let ros2_name = self.ros2_name.clone();
+        self.liveliness_token = Some(self.zsession
+            .liveliness()
+            .declare_token(liveliness_ke)
+            .res()
+            .await
+            .map_err(|e| {
+                format!(
+                    "Failed create LivelinessToken associated to route for Publisher {ros2_name}: {e}"
+                )
+            })?
+        );
+        Ok(())
+    }
+
+    fn deactivate(&mut self) {
+        log::debug!("{self} deactivate");
+        // Drop Zenoh Publisher and Liveliness token
+        // The DDS Writer remains to be discovered by local ROS nodes
+        self.zenoh_publisher = None;
+        self.liveliness_token = None;
+    }
+
+    #[inline]
+    pub fn dds_reader_guid(&self) -> Result<Gid, String> {
+        get_guid(&self.dds_reader)
+    }
+
+    #[inline]
+    pub fn add_remote_route(&mut self, plugin_id: &str, zenoh_key_expr: &keyexpr) {
+        self.remote_routes
+            .insert(format!("{plugin_id}:{zenoh_key_expr}"));
+        log::debug!("{self} now serving remote routes {:?}", self.remote_routes);
+    }
+
+    #[inline]
+    pub fn remove_remote_route(&mut self, plugin_id: &str, zenoh_key_expr: &keyexpr) {
+        self.remote_routes
+            .remove(&format!("{plugin_id}:{zenoh_key_expr}"));
+        log::debug!("{self} now serving remote routes {:?}", self.remote_routes);
+    }
+
+    #[inline]
+    pub fn is_serving_remote_route(&self) -> bool {
+        !self.remote_routes.is_empty()
+    }
+
+    #[inline]
+    pub async fn add_local_node(
+        &mut self,
+        node: String,
+        plugin_id: &keyexpr,
+        discovered_writer_qos: &Qos,
+    ) {
+        self.local_nodes.insert(node);
+        log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
+        // if 1st local node added, activate the route
+        if self.local_nodes.len() == 1 {
+            if let Err(e) = self.activate(plugin_id, discovered_writer_qos).await {
+                log::error!("{self} activation failed: {e}");
+            }
+        }
+    }
+
+    #[inline]
+    pub fn remove_local_node(&mut self, node: &str) {
+        self.local_nodes.remove(node);
+        log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
+        // if last local node removed, deactivate the route
+        if self.local_nodes.is_empty() {
+            self.deactivate();
+        }
+    }
+
+    #[inline]
+    pub fn is_serving_local_node(&self) -> bool {
+        !self.local_nodes.is_empty()
+    }
+
+    #[inline]
+    pub fn is_unused(&self) -> bool {
+        !self.is_serving_local_node() && !self.is_serving_remote_route()
+    }
+}
+
+// Return the read period if keyexpr matches one of the "pub_max_frequencies" option
+fn get_read_period(config: &Config, ke: &keyexpr) -> Option<Duration> {
+    for (re, freq) in &config.pub_max_frequencies {
+        if re.is_match(ke) {
+            return Some(Duration::from_secs_f32(1f32 / freq));
+        }
+    }
+    None
+}
diff --git a/zenoh-plugin-ros2dds/src/route_subscriber.rs b/zenoh-plugin-ros2dds/src/route_subscriber.rs
new file mode 100644
index 0000000..a6afc6d
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/route_subscriber.rs
@@ -0,0 +1,469 @@
+//
+// 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>
+//
+
+use cyclors::{
+    dds_entity_t, dds_get_entity_sertype, dds_strretcode, dds_writecdr, ddsi_serdata_from_ser_iov,
+    ddsi_serdata_kind_SDK_DATA, ddsi_sertype, ddsrt_iov_len_t, ddsrt_iovec_t,
+};
+use serde::Serialize;
+use std::collections::HashSet;
+use std::convert::TryInto;
+use std::sync::Arc;
+use std::{ffi::CStr, fmt, time::Duration};
+use zenoh::liveliness::LivelinessToken;
+use zenoh::prelude::*;
+use zenoh::query::ReplyKeyExpr;
+use zenoh::{prelude::r#async::AsyncResolve, subscriber::Subscriber};
+use zenoh_ext::{FetchingSubscriber, SubscriberBuilderExt};
+
+use crate::gid::Gid;
+use crate::liveliness_mgt::new_ke_liveliness_sub;
+use crate::qos_helpers::is_transient_local;
+use crate::ros2_utils::ros2_message_type_to_dds_type;
+use crate::{
+    dds_discovery::*, qos::Qos, vec_into_raw_parts, Config, KE_ANY_1_SEGMENT, LOG_PAYLOAD,
+};
+use crate::{serialize_option_as_bool, KE_PREFIX_PUB_CACHE};
+
+enum ZSubscriber<'a> {
+    Subscriber(Subscriber<'a, ()>),
+    FetchingSubscriber(FetchingSubscriber<'a, ()>),
+}
+
+impl ZSubscriber<'_> {
+    fn key_expr(&self) -> &KeyExpr<'static> {
+        match self {
+            ZSubscriber::Subscriber(s) => s.key_expr(),
+            ZSubscriber::FetchingSubscriber(s) => s.key_expr(),
+        }
+    }
+}
+
+// a route from Zenoh to DDS
+#[allow(clippy::upper_case_acronyms)]
+#[derive(Serialize)]
+pub struct RouteSubscriber<'a> {
+    // the ROS2 Subscriber name
+    ros2_name: String,
+    // the ROS2 type
+    ros2_type: String,
+    // the Zenoh key expression used for routing
+    zenoh_key_expr: OwnedKeyExpr,
+    // the zenoh session
+    #[serde(skip)]
+    zsession: &'a Arc<Session>,
+    // the config
+    #[serde(skip)]
+    config: Arc<Config>,
+    // the zenoh subscriber receiving data to be re-published by the DDS Writer
+    // `None` when route is created on a remote announcement and no local ROS2 Subscriber discovered yet
+    #[serde(rename = "is_active", serialize_with = "serialize_option_as_bool")]
+    zenoh_subscriber: Option<ZSubscriber<'a>>,
+    // the local DDS Writer created to serve the route (i.e. re-publish to DDS data coming from zenoh)
+    #[serde(serialize_with = "serialize_entity_guid")]
+    dds_writer: dds_entity_t,
+    // if the Writer is TRANSIENT_LOCAL
+    transient_local: bool,
+    // if the topic is keyless
+    #[serde(skip)]
+    keyless: bool,
+    // a liveliness token associated to this route, for announcement to other plugins
+    #[serde(skip)]
+    liveliness_token: Option<LivelinessToken<'a>>,
+    // the list of remote routes served by this route ("<plugin_id>:<zenoh_key_expr>"")
+    remote_routes: HashSet<String>,
+    // the list of nodes served by this route
+    local_nodes: HashSet<String>,
+}
+
+impl Drop for RouteSubscriber<'_> {
+    fn drop(&mut self) {
+        if let Err(e) = delete_dds_entity(self.dds_writer) {
+            log::warn!("{}: error deleting DDS Reader:  {}", self, e);
+        }
+    }
+}
+
+impl fmt::Display for RouteSubscriber<'_> {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        write!(
+            f,
+            "Route Subscriber (Zenoh:{} -> ROS:{})",
+            self.zenoh_key_expr, self.ros2_name
+        )
+    }
+}
+
+impl RouteSubscriber<'_> {
+    #[allow(clippy::too_many_arguments)]
+    pub async fn create<'a, 'b>(
+        config: Arc<Config>,
+        zsession: &'a Arc<Session>,
+        participant: dds_entity_t,
+        ros2_name: String,
+        ros2_type: String,
+        zenoh_key_expr: OwnedKeyExpr,
+        keyless: bool,
+        writer_qos: Qos,
+    ) -> Result<RouteSubscriber<'a>, String> {
+        let transient_local = is_transient_local(&writer_qos);
+        log::debug!("Route Subscriber ({zenoh_key_expr} -> {ros2_name}): creation with type {ros2_type} (transient_local:{transient_local})");
+
+        let topic_name = format!("rt{ros2_name}");
+        let type_name = ros2_message_type_to_dds_type(&ros2_type);
+
+        let dds_writer =
+            create_forwarding_dds_writer(participant, topic_name, type_name, keyless, writer_qos)?;
+
+        Ok(RouteSubscriber {
+            ros2_name,
+            ros2_type,
+            zenoh_key_expr,
+            zsession,
+            config,
+            zenoh_subscriber: None,
+            dds_writer,
+            transient_local,
+            keyless,
+            liveliness_token: None,
+            remote_routes: HashSet::new(),
+            local_nodes: HashSet::new(),
+        })
+    }
+
+    async fn activate(
+        &mut self,
+        config: &Config,
+        plugin_id: &keyexpr,
+        discovered_reader_qos: &Qos,
+    ) -> Result<(), String> {
+        log::debug!("{self} activate");
+        // Callback routing data received by Zenoh subscriber to DDS Writer (if set)
+        let ros2_name = self.ros2_name.clone();
+        let dds_writer = self.dds_writer;
+        let subscriber_callback = move |s: Sample| {
+            do_route_data(s, &ros2_name, dds_writer);
+        };
+
+        // create zenoh subscriber
+        // if Writer is TRANSIENT_LOCAL, use a QueryingSubscriber to fetch remote historical data to write
+        self.zenoh_subscriber = if self.transient_local {
+            // query all PublicationCaches on "<KE_PREFIX_PUB_CACHE>/*/<routing_keyexpr>"
+            let query_selector: Selector =
+                (*KE_PREFIX_PUB_CACHE / *KE_ANY_1_SEGMENT / &self.zenoh_key_expr).into();
+            log::error!("{self}: query historical data from everybody for TRANSIENT_LOCAL Reader on {query_selector}");
+            {
+                use zenoh_core::SyncResolve;
+                //
+                println!("********* QUERY FROM {query_selector}");
+                let rep = self
+                    .zsession
+                    .get(&query_selector)
+                    .target(QueryTarget::All)
+                    .consolidation(ConsolidationMode::None)
+                    .accept_replies(ReplyKeyExpr::Any)
+                    .res_sync()
+                    .unwrap();
+                while let Ok(reply) = rep.recv() {
+                    match reply.sample {
+                        Ok(sample) => println!(
+                            ">>>>>> Received ('{}': '{:02x?}')",
+                            sample.key_expr.as_str(),
+                            sample.value.payload.contiguous(),
+                        ),
+                        Err(err) => {
+                            println!(">> Received (ERROR: '{}')", String::try_from(&err).unwrap())
+                        }
+                    }
+                }
+                //
+            }
+
+            let sub = self
+                .zsession
+                .declare_subscriber(&self.zenoh_key_expr)
+                .callback(subscriber_callback)
+                .allowed_origin(Locality::Remote) // Allow only remote publications to avoid loops
+                .reliable()
+                .querying()
+                .query_timeout(config.queries_timeout)
+                .query_selector(query_selector)
+                .query_accept_replies(ReplyKeyExpr::Any)
+                .res()
+                .await
+                .map_err(|e| format!("{self}: failed to create FetchingSubscriber: {e}",))?;
+            Some(ZSubscriber::FetchingSubscriber(sub))
+        } else {
+            let sub = self
+                .zsession
+                .declare_subscriber(&self.zenoh_key_expr)
+                .callback(subscriber_callback)
+                .allowed_origin(Locality::Remote) // Allow only remote publications to avoid loops
+                .reliable()
+                .res()
+                .await
+                .map_err(|e| format!("{self}: failed to create Subscriber: {e}"))?;
+            Some(ZSubscriber::Subscriber(sub))
+        };
+
+        // create associated LivelinessToken
+        let liveliness_ke = new_ke_liveliness_sub(
+            plugin_id,
+            &self.zenoh_key_expr,
+            &self.ros2_type,
+            self.keyless,
+            &discovered_reader_qos,
+        )?;
+        let ros2_name = self.ros2_name.clone();
+        self.liveliness_token = Some(
+            self.zsession
+                .liveliness()
+                .declare_token(liveliness_ke)
+                .res()
+                .await
+                .map_err(|e| {
+                    format!(
+                        "Failed create LivelinessToken associated to route for Subscriber {ros2_name} : {e}"
+                    )
+                })?,
+        );
+        Ok(())
+    }
+
+    fn deactivate(&mut self) {
+        log::debug!("{self} deactivate");
+        // Drop Zenoh Subscriber and Liveliness token
+        // The DDS Writer remains to be discovered by local ROS nodes
+        self.zenoh_subscriber = None;
+        self.liveliness_token = None;
+    }
+
+    /// If this route uses a FetchingSubscriber, query for historical publications
+    /// using the specified Selector. Otherwise, do nothing.
+    pub async fn query_historical_publications<'a>(
+        &mut self,
+        plugin_id: &keyexpr,
+        query_timeout: Duration,
+    ) {
+        if let Some(ZSubscriber::FetchingSubscriber(sub)) = &mut self.zenoh_subscriber {
+            // query all PublicationCaches on "<KE_PREFIX_PUB_CACHE>/<plugin_id>/<routing_keyexpr>"
+            let query_selector: Selector =
+                (*KE_PREFIX_PUB_CACHE / plugin_id / &self.zenoh_key_expr).into();
+            log::error!("Route Subscriber (Zenoh:{} -> ROS:{}): query historical data from {plugin_id} for TRANSIENT_LOCAL Reader on {query_selector}",
+                self.zenoh_key_expr, self.ros2_name
+            );
+
+            if let Err(e) = sub
+                .fetch({
+                    let session = &self.zsession;
+                    let query_selector = query_selector.clone();
+                    {
+                        use zenoh_core::SyncResolve;
+                        //
+                        println!("********* FETCH FROM {query_selector}");
+                        let rep = session
+                            .get(&query_selector)
+                            .target(QueryTarget::All)
+                            .consolidation(ConsolidationMode::None)
+                            .accept_replies(ReplyKeyExpr::Any)
+                            .res_sync()
+                            .unwrap();
+                        while let Ok(reply) = rep.recv() {
+                            match reply.sample {
+                                Ok(sample) => println!(
+                                    ">>>>>> Received ('{}': '{:02x?}')",
+                                    sample.key_expr.as_str(),
+                                    sample.value.payload.contiguous(),
+                                ),
+                                Err(err) => println!(
+                                    ">> Received (ERROR: '{}')",
+                                    String::try_from(&err).unwrap()
+                                ),
+                            }
+                        }
+                        //
+                    }
+
+                    move |cb| {
+                        use zenoh_core::SyncResolve;
+                        session
+                            .get(&query_selector)
+                            .target(QueryTarget::All)
+                            .consolidation(ConsolidationMode::None)
+                            .accept_replies(ReplyKeyExpr::Any)
+                            .timeout(query_timeout)
+                            .callback(cb)
+                            .res_sync()
+                    }
+                })
+                .res()
+                .await
+            {
+                log::warn!(
+                    "{}: query for historical publications on {} failed: {}",
+                    self,
+                    query_selector,
+                    e
+                );
+            }
+        }
+    }
+
+    #[inline]
+    pub fn dds_writer_guid(&self) -> Result<Gid, String> {
+        get_guid(&self.dds_writer)
+    }
+
+    #[inline]
+    pub fn add_remote_route(&mut self, plugin_id: &str, zenoh_key_expr: &keyexpr) {
+        self.remote_routes
+            .insert(format!("{plugin_id}:{zenoh_key_expr}"));
+        log::debug!("{self} now serving remote routes {:?}", self.remote_routes);
+    }
+
+    #[inline]
+    pub fn remove_remote_route(&mut self, plugin_id: &str, zenoh_key_expr: &keyexpr) {
+        self.remote_routes
+            .remove(&format!("{plugin_id}:{zenoh_key_expr}"));
+        log::debug!("{self} now serving remote routes {:?}", self.remote_routes);
+    }
+
+    #[inline]
+    pub fn is_serving_remote_route(&self) -> bool {
+        !self.remote_routes.is_empty()
+    }
+
+    #[inline]
+    pub async fn add_local_node(
+        &mut self,
+        entity_key: String,
+        config: &Config,
+        plugin_id: &keyexpr,
+        discovered_reader_qos: &Qos,
+    ) {
+        self.local_nodes.insert(entity_key);
+        log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
+        // if 1st local node added, activate the route
+        if self.local_nodes.len() == 1 {
+            if let Err(e) = self
+                .activate(config, plugin_id, discovered_reader_qos)
+                .await
+            {
+                log::error!("{self} activation failed: {e}");
+            }
+        }
+    }
+
+    #[inline]
+    pub fn remove_local_node(&mut self, entity_key: &str) {
+        self.local_nodes.remove(entity_key);
+        log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
+        // if last local node removed, deactivate the route
+        if self.local_nodes.is_empty() {
+            self.deactivate();
+        }
+    }
+
+    #[inline]
+    pub fn is_serving_local_node(&self) -> bool {
+        !self.local_nodes.is_empty()
+    }
+
+    #[inline]
+    pub fn is_unused(&self) -> bool {
+        !self.is_serving_local_node() && !self.is_serving_remote_route()
+    }
+}
+
+fn do_route_data(s: Sample, ros2_name: &str, data_writer: dds_entity_t) {
+    if *LOG_PAYLOAD {
+        log::trace!(
+            "Route Subscriber (Zenoh:{} -> ROS:{}): routing data - payload: {:?}",
+            s.key_expr,
+            &ros2_name,
+            s.value.payload
+        );
+    } else {
+        log::trace!(
+            "Route Subscriber (Zenoh:{} -> ROS:{}): routing data",
+            s.key_expr,
+            &ros2_name
+        );
+    }
+
+    unsafe {
+        let bs = s.value.payload.contiguous().into_owned();
+        // As per the Vec documentation (see https://doc.rust-lang.org/std/vec/struct.Vec.html#method.into_raw_parts)
+        // the only way to correctly releasing it is to create a vec using from_raw_parts
+        // and then have its destructor do the cleanup.
+        // Thus, while tempting to just pass the raw pointer to cyclone and then free it from C,
+        // that is not necessarily safe or guaranteed to be leak free.
+        // TODO replace when stable https://github.com/rust-lang/rust/issues/65816
+        let (ptr, len, capacity) = vec_into_raw_parts(bs);
+        let size: ddsrt_iov_len_t = match len.try_into() {
+            Ok(s) => s,
+            Err(_) => {
+                log::warn!(
+                    "Route Subscriber (Zenoh:{} -> ROS:{}): can't route data; excessive payload size ({})",
+                    s.key_expr,
+                    ros2_name,
+                    len
+                );
+                return;
+            }
+        };
+
+        let data_out = ddsrt_iovec_t {
+            iov_base: ptr as *mut std::ffi::c_void,
+            iov_len: size,
+        };
+
+        let mut sertype_ptr: *const ddsi_sertype = std::ptr::null_mut();
+        let ret = dds_get_entity_sertype(data_writer, &mut sertype_ptr);
+        if ret < 0 {
+            log::warn!(
+                "Route Subscriber (Zenoh:{} -> ROS:{}): can't route data; sertype lookup failed ({})",
+                s.key_expr,
+                ros2_name,
+                CStr::from_ptr(dds_strretcode(ret))
+                    .to_str()
+                    .unwrap_or("unrecoverable DDS retcode")
+            );
+            return;
+        }
+
+        let fwdp = ddsi_serdata_from_ser_iov(
+            sertype_ptr,
+            ddsi_serdata_kind_SDK_DATA,
+            1,
+            &data_out,
+            size as usize,
+        );
+
+        let ret = dds_writecdr(data_writer, fwdp);
+        if ret < 0 {
+            log::warn!(
+                "Route Subscriber (Zenoh:{} -> ROS:{}): DDS write({data_writer}) failed: {}",
+                s.key_expr,
+                ros2_name,
+                CStr::from_ptr(dds_strretcode(ret))
+                    .to_str()
+                    .unwrap_or("unrecoverable DDS retcode")
+            );
+            return;
+        }
+
+        drop(Vec::from_raw_parts(ptr, len, capacity));
+    }
+}
diff --git a/zenoh-plugin-ros2dds/src/routes_mgr.rs b/zenoh-plugin-ros2dds/src/routes_mgr.rs
new file mode 100644
index 0000000..0f0e5cd
--- /dev/null
+++ b/zenoh-plugin-ros2dds/src/routes_mgr.rs
@@ -0,0 +1,485 @@
+//
+// 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>
+//
+use crate::config::Config;
+use crate::discovered_entities::DiscoveredEntities;
+use crate::events::ROS2AnnouncementEvent;
+use crate::events::ROS2DiscoveryEvent;
+use crate::qos_helpers::adapt_reader_qos_for_writer;
+use crate::qos_helpers::adapt_writer_qos_for_reader;
+use crate::ros_discovery::RosDiscoveryInfoMgr;
+use crate::route_publisher::RoutePublisher;
+use crate::route_subscriber::RouteSubscriber;
+use cyclors::dds_entity_t;
+use cyclors::qos::Qos;
+use serde::{Deserialize, Serialize};
+use std::collections::hash_map::Entry;
+use std::collections::HashMap;
+use std::sync::Arc;
+use std::sync::RwLock;
+use zenoh::prelude::keyexpr;
+use zenoh::prelude::r#async::AsyncResolve;
+use zenoh::prelude::OwnedKeyExpr;
+use zenoh::queryable::Query;
+use zenoh::sample::Sample;
+use zenoh::Session;
+use zenoh_core::zread;
+
+use crate::ke_for_sure;
+
+lazy_static::lazy_static!(
+    static ref KE_PREFIX_ROUTE_PUBLISHER: &'static keyexpr = ke_for_sure!("route/topic/pub");
+    static ref KE_PREFIX_ROUTE_SUBSCRIBER: &'static keyexpr = ke_for_sure!("route/topic/sub");
+    static ref KE_PREFIX_ROUTE_SERVICE_SRV: &'static keyexpr = ke_for_sure!("route/service/srv");
+    static ref KE_PREFIX_ROUTE_SERVICE_CLI: &'static keyexpr = ke_for_sure!("route/service/cli");
+);
+
+#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
+pub enum RouteStatus {
+    Routed(OwnedKeyExpr), // Routing is active, with the zenoh key expression used for the route
+    NotAllowed,           // Routing was not allowed per configuration
+    CreationFailure(String), // The route creation failed
+    _QoSConflict,         // A route was already established but with conflicting QoS
+}
+
+#[derive(Debug)]
+enum RouteRef {
+    PublisherRoute(String),
+    SubscriberRoute(String),
+}
+
+pub struct RoutesMgr<'a> {
+    plugin_id: OwnedKeyExpr,
+    config: Arc<Config>,
+    zsession: &'a Arc<Session>,
+    participant: dds_entity_t,
+    discovered_entities: Arc<RwLock<DiscoveredEntities>>,
+    // maps of established routes - ecah map indexed by topic/service/action name
+    routes_publishers: HashMap<String, RoutePublisher<'a>>,
+    routes_subscribers: HashMap<String, RouteSubscriber<'a>>,
+    // ros_discovery_info read/write manager
+    ros_discovery_mgr: Arc<RosDiscoveryInfoMgr>,
+    admin_prefix: OwnedKeyExpr,
+    // admin space: index is the admin_keyexpr (relative to admin_prefix)
+    admin_space: HashMap<OwnedKeyExpr, RouteRef>,
+}
+
+impl<'a> RoutesMgr<'a> {
+    pub fn new(
+        plugin_id: OwnedKeyExpr,
+        config: Arc<Config>,
+        zsession: &'a Arc<Session>,
+        participant: dds_entity_t,
+        discovered_entities: Arc<RwLock<DiscoveredEntities>>,
+        ros_discovery_mgr: Arc<RosDiscoveryInfoMgr>,
+        admin_prefix: OwnedKeyExpr,
+    ) -> RoutesMgr<'a> {
+        RoutesMgr {
+            plugin_id,
+            config,
+            zsession,
+            participant,
+            discovered_entities,
+            routes_publishers: HashMap::new(),
+            routes_subscribers: HashMap::new(),
+            ros_discovery_mgr,
+            admin_prefix,
+            admin_space: HashMap::new(),
+        }
+    }
+
+    pub async fn on_ros_discovery_event(
+        &mut self,
+        event: ROS2DiscoveryEvent,
+    ) -> Result<(), String> {
+        use ROS2DiscoveryEvent::*;
+        match event {
+            DiscoveredMsgPub(node, iface) => {
+                let plugin_id = self.plugin_id.clone();
+                // Retrieve info on DDS Writer
+                let entity = {
+                    let entities = zread!(self.discovered_entities);
+                    entities
+                        .get_writer(&iface.writer)
+                        .ok_or(format!(
+                            "Failed to get DDS info for {iface} Writer {}. Already deleted ?",
+                            iface.writer
+                        ))?
+                        .clone()
+                };
+                // Get route (create it if not yet exists)
+                let route = self
+                    .get_or_create_route_publisher(
+                        iface.name,
+                        iface.typ,
+                        entity.keyless,
+                        adapt_writer_qos_for_reader(&entity.qos),
+                    )
+                    .await?;
+                route
+                    .add_local_node(node.into(), &plugin_id, &entity.qos)
+                    .await;
+            }
+
+            UndiscoveredMsgPub(node, iface) => {
+                if let Entry::Occupied(mut entry) = self.routes_publishers.entry(iface.name.clone())
+                {
+                    let route = entry.get_mut();
+                    route.remove_local_node(&node);
+                    if route.is_unused() {
+                        self.admin_space
+                            .remove(&(*KE_PREFIX_ROUTE_PUBLISHER / iface.name_as_keyexpr()));
+                        let route = entry.remove();
+                        // remove reader's GID in ros_discovery_msg
+                        self.ros_discovery_mgr
+                            .remove_dds_reader(route.dds_reader_guid().map_err(|e| {
+                                format!("Failed to update ros_discovery_info message: {e}")
+                            })?);
+                        log::info!("{route} removed");
+                    }
+                }
+            }
+
+            DiscoveredMsgSub(node, iface) => {
+                // Retrieve info on DDS Reader
+                let entity = {
+                    let entities = zread!(self.discovered_entities);
+                    entities
+                        .get_reader(&iface.reader)
+                        .ok_or(format!(
+                            "Failed to get DDS info for {iface} Reader {}. Already deleted ?",
+                            iface.reader
+                        ))?
+                        .clone()
+                };
+                let plugin_id = self.plugin_id.clone();
+                let config = self.config.clone();
+                // Get route (create it if not yet exists)
+                let route = self
+                    .get_or_create_route_subscriber(
+                        iface.name,
+                        iface.typ,
+                        entity.keyless,
+                        adapt_reader_qos_for_writer(&entity.qos),
+                    )
+                    .await?;
+                route
+                    .add_local_node(node.into(), &config, &plugin_id, &entity.qos)
+                    .await;
+            }
+
+            UndiscoveredMsgSub(node, iface) => {
+                if let Entry::Occupied(mut entry) =
+                    self.routes_subscribers.entry(iface.name.clone())
+                {
+                    let route = entry.get_mut();
+                    route.remove_local_node(&node);
+                    if route.is_unused() {
+                        self.admin_space
+                            .remove(&(*KE_PREFIX_ROUTE_SUBSCRIBER / iface.name_as_keyexpr()));
+                        let route = entry.remove();
+                        // remove writer's GID in ros_discovery_msg
+                        self.ros_discovery_mgr
+                            .remove_dds_writer(route.dds_writer_guid().map_err(|e| {
+                                format!("Failed to update ros_discovery_info message: {e}")
+                            })?);
+                        log::info!("{route} removed");
+                    }
+                }
+            }
+            DiscoveredServiceSrv(_node, iface) => {
+                log::info!("... TODO: create Service Server route for {}", iface.name);
+            }
+            UndiscoveredServiceSrv(_node, iface) => {
+                log::info!("... TODO: delete Service Server route for {}", iface.name);
+            }
+            DiscoveredServiceCli(_node, iface) => {
+                log::info!("... TODO: create Service Client route for {}", iface.name);
+            }
+            UndiscoveredServiceCli(_node, iface) => {
+                log::info!("... TODO: delete Service Client route for {}", iface.name);
+            }
+            DiscoveredActionSrv(_node, iface) => {
+                log::info!("... TODO: create Action Server route for {}", iface.name);
+            }
+            UndiscoveredActionSrv(_node, iface) => {
+                log::info!("... TODO: delete Action Server route for {}", iface.name);
+            }
+            DiscoveredActionCli(_node, iface) => {
+                log::info!("... TODO: create Action Client route for {}", iface.name);
+            }
+            UndiscoveredActionCli(_node, iface) => {
+                log::info!("... TODO: delete Action Client route for {}", iface.name);
+            }
+        }
+        Ok(())
+    }
+
+    pub async fn on_ros_announcement_event(
+        &mut self,
+        event: ROS2AnnouncementEvent,
+    ) -> Result<(), String> {
+        use ROS2AnnouncementEvent::*;
+        match event {
+            AnnouncedMsgPub {
+                plugin_id,
+                zenoh_key_expr,
+                ros2_type,
+                keyless,
+                writer_qos,
+            } => {
+                // On remote Publisher route announcement, prepare a Subscriber route
+                // with an associated DDS Writer allowing local ROS2 Nodes to discover it
+                let route = self
+                    .get_or_create_route_subscriber(
+                        format!("/{zenoh_key_expr}"),
+                        ros2_type,
+                        keyless,
+                        writer_qos,
+                    )
+                    .await?;
+                route.add_remote_route(&plugin_id, &zenoh_key_expr);
+            }
+
+            RetiredMsgPub {
+                plugin_id,
+                zenoh_key_expr,
+            } => {
+                if let Entry::Occupied(mut entry) =
+                    self.routes_subscribers.entry(format!("/{zenoh_key_expr}"))
+                {
+                    let route = entry.get_mut();
+                    route.remove_remote_route(&plugin_id, &zenoh_key_expr);
+                    if route.is_unused() {
+                        self.admin_space
+                            .remove(&(*KE_PREFIX_ROUTE_SUBSCRIBER / &zenoh_key_expr));
+                        let route = entry.remove();
+                        // remove writer's GID in ros_discovery_msg
+                        self.ros_discovery_mgr
+                            .remove_dds_writer(route.dds_writer_guid().map_err(|e| {
+                                format!("Failed to update ros_discovery_info message: {e}")
+                            })?);
+                        log::info!("{route} removed");
+                    }
+                }
+            }
+
+            AnnouncedMsgSub {
+                plugin_id,
+                zenoh_key_expr,
+                ros2_type,
+                keyless,
+                reader_qos,
+            } => {
+                // On remote Subscriber route announcement, prepare a Publisher route
+                // with an associated DDS Reader allowing local ROS2 Nodes to discover it
+                let route = self
+                    .get_or_create_route_publisher(
+                        format!("/{zenoh_key_expr}"),
+                        ros2_type,
+                        keyless,
+                        reader_qos,
+                    )
+                    .await?;
+                route.add_remote_route(&plugin_id, &zenoh_key_expr);
+            }
+
+            RetiredMsgSub {
+                plugin_id,
+                zenoh_key_expr,
+            } => {
+                if let Entry::Occupied(mut entry) =
+                    self.routes_publishers.entry(format!("/{zenoh_key_expr}"))
+                {
+                    let route = entry.get_mut();
+                    route.remove_remote_route(&plugin_id, &zenoh_key_expr);
+                    if route.is_unused() {
+                        self.admin_space
+                            .remove(&(*KE_PREFIX_ROUTE_PUBLISHER / &zenoh_key_expr));
+                        let route = entry.remove();
+                        // remove reader's GID in ros_discovery_msg
+                        self.ros_discovery_mgr
+                            .remove_dds_reader(route.dds_reader_guid().map_err(|e| {
+                                format!("Failed to update ros_discovery_info message: {e}")
+                            })?);
+                        log::info!("{route} removed");
+                    }
+                }
+            }
+
+            _ => log::info!("... TODO: manage {event:?}"),
+        }
+        Ok(())
+    }
+
+    pub async fn query_historical_all_publications(&mut self, plugin_id: &keyexpr) {
+        for route in self.routes_subscribers.values_mut() {
+            route
+                .query_historical_publications(&plugin_id, self.config.queries_timeout)
+                .await;
+        }
+    }
+
+    async fn get_or_create_route_publisher(
+        &mut self,
+        ros2_name: String,
+        ros2_type: String,
+        keyless: bool,
+        reader_qos: Qos,
+    ) -> Result<&mut RoutePublisher<'a>, String> {
+        match self.routes_publishers.entry(ros2_name.clone()) {
+            Entry::Vacant(entry) => {
+                // ROS2 topic name => Zenoh key expr : strip '/' prefix
+                let zenoh_key_expr = ke_for_sure!(&ros2_name[1..]);
+                // create route
+                let route = RoutePublisher::create(
+                    self.config.clone(),
+                    &self.zsession,
+                    self.participant,
+                    ros2_name.clone(),
+                    ros2_type,
+                    zenoh_key_expr.to_owned(),
+                    &None,
+                    keyless,
+                    reader_qos,
+                )
+                .await?;
+                log::info!("{route} created");
+
+                // insert reference in admin_space
+                let admin_ke = *KE_PREFIX_ROUTE_PUBLISHER / zenoh_key_expr;
+                self.admin_space
+                    .insert(admin_ke, RouteRef::PublisherRoute(ros2_name));
+
+                // insert reader's GID in ros_discovery_msg
+                self.ros_discovery_mgr.add_dds_reader(
+                    route
+                        .dds_reader_guid()
+                        .map_err(|e| format!("Failed to update ros_discovery_info message: {e}"))?,
+                );
+
+                Ok(entry.insert(route))
+            }
+            Entry::Occupied(entry) => Ok(entry.into_mut()),
+        }
+    }
+
+    async fn get_or_create_route_subscriber(
+        &mut self,
+        ros2_name: String,
+        ros2_type: String,
+        keyless: bool,
+        writer_qos: Qos,
+    ) -> Result<&mut RouteSubscriber<'a>, String> {
+        match self.routes_subscribers.entry(ros2_name.clone()) {
+            Entry::Vacant(entry) => {
+                // ROS2 topic name => Zenoh key expr : strip '/' prefix
+                let zenoh_key_expr = ke_for_sure!(&ros2_name[1..]);
+                // create route
+                let route = RouteSubscriber::create(
+                    self.config.clone(),
+                    &self.zsession,
+                    self.participant,
+                    ros2_name.clone(),
+                    ros2_type,
+                    zenoh_key_expr.to_owned(),
+                    keyless,
+                    writer_qos,
+                )
+                .await?;
+                log::info!("{route} created");
+
+                // insert reference in admin_space
+                let admin_ke = *KE_PREFIX_ROUTE_SUBSCRIBER / zenoh_key_expr;
+                self.admin_space
+                    .insert(admin_ke, RouteRef::SubscriberRoute(ros2_name));
+
+                // insert writer's GID in ros_discovery_msg
+                self.ros_discovery_mgr.add_dds_writer(
+                    route
+                        .dds_writer_guid()
+                        .map_err(|e| format!("Failed to update ros_discovery_info message: {e}"))?,
+                );
+
+                Ok(entry.insert(route))
+            }
+            Entry::Occupied(entry) => Ok(entry.into_mut()),
+        }
+    }
+
+    pub async fn treat_admin_query(&self, query: &Query) {
+        let selector = query.selector();
+
+        // get the list of sub-key expressions that will match the same stored keys than
+        // the selector, if those keys had the admin_keyexpr_prefix.
+        let sub_kes = selector.key_expr.strip_prefix(&self.admin_prefix);
+        if sub_kes.is_empty() {
+            log::error!("Received query for admin space: '{}' - but it's not prefixed by admin_keyexpr_prefix='{}'", selector, &self.admin_prefix);
+            return;
+        }
+
+        // For all sub-key expression
+        for sub_ke in sub_kes {
+            if sub_ke.is_wild() {
+                // iterate over all admin space to find matching keys and reply for each
+                for (ke, route_ref) in self.admin_space.iter() {
+                    if sub_ke.intersects(ke) {
+                        self.send_admin_reply(query, ke, route_ref).await;
+                    }
+                }
+            } else {
+                // sub_ke correspond to 1 key - just get it and reply
+                if let Some(route_ref) = self.admin_space.get(sub_ke) {
+                    self.send_admin_reply(query, sub_ke, route_ref).await;
+                }
+            }
+        }
+    }
+
+    async fn send_admin_reply(&self, query: &Query, key_expr: &keyexpr, route_ref: &RouteRef) {
+        match self.get_entity_json_value(route_ref) {
+            Ok(Some(v)) => {
+                let admin_keyexpr = &self.admin_prefix / &key_expr;
+                if let Err(e) = query
+                    .reply(Ok(Sample::new(admin_keyexpr, v)))
+                    .res_async()
+                    .await
+                {
+                    log::warn!("Error replying to admin query {:?}: {}", query, e);
+                }
+            }
+            Ok(None) => log::error!("INTERNAL ERROR: Dangling {:?} for {}", route_ref, key_expr),
+            Err(e) => {
+                log::error!("INTERNAL ERROR serializing admin value as JSON: {}", e)
+            }
+        }
+    }
+
+    fn get_entity_json_value(
+        &self,
+        route_ref: &RouteRef,
+    ) -> Result<Option<serde_json::Value>, serde_json::Error> {
+        match route_ref {
+            RouteRef::PublisherRoute(ke) => self
+                .routes_publishers
+                .get(ke)
+                .map(serde_json::to_value)
+                .transpose(),
+            RouteRef::SubscriberRoute(ke) => self
+                .routes_subscribers
+                .get(ke)
+                .map(serde_json::to_value)
+                .transpose(),
+        }
+    }
+}