diff --git a/examples/zenoh-pico/CMakeLists.txt b/examples/zenoh-pico/CMakeLists.txt
new file mode 100644
index 0000000..f400859
--- /dev/null
+++ b/examples/zenoh-pico/CMakeLists.txt
@@ -0,0 +1,66 @@
+cmake_minimum_required(VERSION 3.8)
+project(zenoh_pico_example)
+
+set(CMAKE_BUILD_TYPE DEBUG)
+
+include(FetchContent)
+FetchContent_declare(
+  c_backend 
+  GIT_REPOSITORY "https://github.com/eclipse-zenoh/zenoh-pico.git" 
+  GIT_TAG main)
+set(BUILD_SHARED_LIBS OFF)
+FetchContent_MakeAvailable(c_backend)
+
+include(FetchContent)
+FetchContent_declare(
+  cyclonedds
+  GIT_REPOSITORY "https://github.com/eclipse-cyclonedds/cyclonedds.git" 
+  GIT_TAG origin/master
+  SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/cyclonedds"
+  SOURCE_SUBDIR src/core/cdr
+)
+set(BUILD_SHARED_LIBS OFF)
+set(CMAKE_BUILD_TYPE DEBUG)
+
+FetchContent_MakeAvailable(cyclonedds)
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/idlc)
+
+add_executable(add_two_ints_client
+  add_two_ints_client.c
+  idlc/example_interfaces/srv/AddTwoInts.c
+)
+target_link_libraries(add_two_ints_client
+  zenohpico
+  cdr
+)
+
+add_executable(listener
+  listener.c
+  idlc/rcl_interfaces/msg/Log.c
+  idlc/builtin_interfaces/msg/Time.c
+)
+
+target_link_libraries(listener
+  zenohpico
+  cdr
+)
+
+add_executable(talker
+  talker.c
+  idlc/rcl_interfaces/msg/Log.c
+  idlc/builtin_interfaces/msg/Time.c
+)
+
+target_link_libraries(talker
+  zenohpico
+  cdr
+)
+
+install(TARGETS add_two_ints_client listener talker
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+
diff --git a/examples/zenoh-pico/README.md b/examples/zenoh-pico/README.md
new file mode 100644
index 0000000..d9d79af
--- /dev/null
+++ b/examples/zenoh-pico/README.md
@@ -0,0 +1,106 @@
+# Examples of Zenoh Pico applications communicating with ROS 2 Nodes
+
+
+## Messages Publication: [talker.c](talker.c)
+
+This code mimics the ROS 2 [Topics "talker" demo](https://github.com/ros2/demos/blob/rolling/demo_nodes_cpp/src/topics/talker.cpp). It's compatible with the ROS 2 [Topics "listener" demo](https://github.com/ros2/demos/blob/rolling/demo_nodes_cpp/src/topics/listener.cpp) running those commands:
+- Terminal 1
+  ```
+  source /opt/ros/iron/local_setup.bash
+  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+  ros2 topic echo /rosout
+  ```
+
+- Terminal 2
+  ```
+  source /opt/ros/iron/local_setup.bash
+  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+  zenho-bridge-ros2dds -l tcp/0.0.0.0:7447
+  ```
+
+- Terminal 3
+  ```
+  talker
+  ```
+  | Here we publish to the `rosout` topic because there is a conflict when using `idlc` to compile `std_msgs/msg/String.idl`
+
+
+## Messages Subscription: [listener.c](listener.c)
+
+This code mimics the ROS 2 [Topics "listener" demo](https://github.com/ros2/demos/blob/rolling/demo_nodes_cpp/src/topics/listener.cpp). It's compatible with the ROS 2 [Topics "talker" demo](https://github.com/ros2/demos/blob/rolling/demo_nodes_cpp/src/topics/talker.cpp) running those commands:
+
+- Terminal 1
+  ```
+  source /opt/ros/iron/local_setup.bash
+  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+  ros2 run demo_nodes_cpp talker
+  ```
+
+- Terminal 2
+  ```
+  source /opt/ros/iron/local_setup.bash
+  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+  zenho-bridge-ros2dds -l tcp/0.0.0.0:7447
+  ```
+
+- Terminal 3
+  ```
+  listener
+  ```
+  | Here we subscribe to the `rosout` topic because there is a conflict when using `idlc` to compile `std_msgs/msg/String.idl`
+
+## Services Client: [add_two_ints_client.c](add_two_ints_client.c)
+
+This code mimics the ROS 2 [Services "add_two_ints_client" demo](https://github.com/ros2/demos/blob/rolling/demo_nodes_cpp/src/services/add_two_ints_client.cpp). It's compatible with the ROS 2 [Services "add_two_ints_server" demo](https://github.com/ros2/demos/blob/rolling/demo_nodes_cpp/src/services/add_two_ints_server.cpp) running those commands:
+
+
+- Terminal 1
+
+  ```
+  source /opt/ros/iron/local_setup.bash
+  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+  ros2 run demo_nodes_cpp add_two_ints_server
+  ```
+
+- Terminal 2
+  ```
+  source /opt/ros/iron/local_setup.bash
+  zenho-bridge-ros2dds -l tcp/0.0.0.0:7447
+  ```
+
+- Terminal 3
+  ```
+  add_two_ints_client -a 1000 -b 2000
+  ```
+
+
+
+## How to use idlc to compile *.idl 
+
+> rmw_cyclonedds_cpp doesn't expect XCDR encoding, but CDR encoding. Thus, we shall use -x final with idlc command.
+
+> ROS2 env must be set up first. ( ROS Iron recommended )
+
+```
+find_package(CycloneDDS REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+
+foreach(_idl ${rcl_interfaces_IDL_FILES})
+    configure_file(${rcl_interfaces_DIR}/../${_idl} ${IDL_OUT_PATH}/rcl_interfaces/${_idl} COPYONLY)
+    list(APPEND IDL_FILES "${IDL_OUT_PATH}/rcl_interfaces/${_idl}")
+endforeach()
+
+foreach(_idl ${builtin_interfaces_IDL_FILES})
+    configure_file(${builtin_interfaces_DIR}/../${_idl} ${IDL_OUT_PATH}/builtin_interfaces/${_idl} COPYONLY)
+    list(APPEND IDL_FILES "${IDL_OUT_PATH}/builtin_interfaces/${_idl}")
+endforeach()
+
+foreach(_idl ${IDL_FILES})    
+    execute_process(
+        COMMAND mkdir -p ${CMAKE_BINARY_DIR}/src
+        COMMAND idlc -I ${CMAKE_BINARY_DIR}/idl -o ${CMAKE_BINARY_DIR}/src -b ${CMAKE_BINARY_DIR}/idl -x final ${_idl} 
+        OUTPUT_VARIABLE cmd_output
+    )
+endforeach()
+```
\ No newline at end of file
diff --git a/examples/zenoh-pico/add_two_ints_client.c b/examples/zenoh-pico/add_two_ints_client.c
new file mode 100644
index 0000000..0045533
--- /dev/null
+++ b/examples/zenoh-pico/add_two_ints_client.c
@@ -0,0 +1,214 @@
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <ctype.h>
+
+#include <zenoh-pico.h>
+#include "example_interfaces/srv/AddTwoInts.h"
+// CycloneDDS CDR Deserializer
+#include <dds/cdr/dds_cdrstream.h>
+
+// CDR Xtypes header {0x00, 0x01} indicates it's Little Endian (CDR_LE representation)
+const uint8_t ros2_header[4] = {0x00, 0x01, 0x00, 0x00};
+
+static dds_cdrstream_allocator_t allocator = {.malloc = malloc, .realloc = realloc, .free = free};
+
+z_condvar_t cond;
+z_mutex_t mutex;
+
+void reply_dropper(void *ctx) {
+    (void)(ctx);
+    printf(">> Received query final notification\n");
+    z_condvar_signal(&cond);
+    z_condvar_free(&cond);
+}
+
+void reply_handler(z_owned_reply_t *reply, void *ctx) {
+    (void)(ctx);
+    if (z_reply_is_ok(reply)) {
+        z_sample_t sample = z_reply_ok(reply);
+        z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
+
+        struct dds_cdrstream_desc desc_rd;
+        dds_cdrstream_desc_init(&desc_rd, &allocator, 
+                example_interfaces_srv_AddTwoInts_Response_desc.m_size, 
+                example_interfaces_srv_AddTwoInts_Response_desc.m_align, 
+                example_interfaces_srv_AddTwoInts_Response_desc.m_flagset,
+                example_interfaces_srv_AddTwoInts_Response_desc.m_ops,
+                example_interfaces_srv_AddTwoInts_Response_desc.m_keys,
+                example_interfaces_srv_AddTwoInts_Response_desc.m_nkeys);
+
+        uint32_t actual_size;
+        const bool byteswap = (sample.payload.start[1] != DDSRT_LITTLE_ENDIAN);
+        const bool norm_ok = dds_stream_normalize(
+                sample.payload.start + 4, 
+                sample.payload.len, 
+                byteswap, 
+                DDSI_RTPS_CDR_ENC_VERSION_2, &desc_rd, false, &actual_size);
+
+        if (!norm_ok) {
+            printf("dds_stream_normalize failed\n");
+            return;
+        }
+
+        dds_istream_t is;
+        is.m_buffer = sample.payload.start + 4;
+        is.m_index = 0;
+        is.m_size = sample.payload.len;
+        is.m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2;
+
+        example_interfaces_srv_AddTwoInts_Response *data = calloc(1, desc_rd.size);
+        dds_stream_read_sample(&is, data, &allocator, &desc_rd);
+                
+        printf(">> Received ('%s': %ld)\n", z_str_loan(&keystr), data->sum);
+
+        z_str_drop(z_str_move(&keystr));
+
+        dds_cdrstream_desc_fini(&desc_rd, &allocator);
+    } else {
+        printf(">> Received an error\n");
+    }
+}
+
+int main(int argc, char **argv) {
+    const char *keyexpr = "add_two_ints";
+    const char *mode = "client";
+    const char *clocator = NULL;
+    const char *llocator = NULL;
+    const char *req_a = "1000";
+    const char *req_b = "2000";
+
+    int opt;
+    while ((opt = getopt(argc, argv, "k:e:m:v:a:b:l:")) != -1) {
+        switch (opt) {
+            case 'k':
+                keyexpr = optarg;
+                break;
+            case 'e':
+                clocator = optarg;
+                break;
+            case 'm':
+                mode = optarg;
+                break;
+            case 'l':
+                llocator = optarg;
+                break;
+            case 'a':
+                req_a = optarg;
+                break;
+            case 'b':
+                req_b = optarg;
+                break;
+            case '?':
+                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l') {
+                    fprintf(stderr, "Option -%c requires an argument.\n", optopt);
+                } else {
+                    fprintf(stderr, "Unknown option `-%c'.\n", optopt);
+                }
+                return 1;
+            default:
+                return -1;
+        }
+    }
+
+    allocator.malloc = malloc;
+    allocator.free = free;
+    allocator.realloc = realloc;
+
+    z_mutex_init(&mutex);
+    z_condvar_init(&cond);
+
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_config_loan(&config), Z_CONFIG_MODE_KEY, z_string_make(mode));
+    if (clocator != NULL) {
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
+    }
+    if (llocator != NULL) {
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_config_move(&config));
+    if (!z_session_check(&s)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_session_loan(&s), NULL) < 0 || zp_start_lease_task(z_session_loan(&s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        z_close(z_session_move(&s));
+        return -1;
+    }
+
+    z_keyexpr_t ke = z_keyexpr(keyexpr);
+    if (!z_keyexpr_is_initialized(&ke)) {
+        printf("%s is not a valid key expression", keyexpr);
+        return -1;
+    }
+    
+    z_mutex_lock(&mutex);
+
+    // Setup ostream for serializer
+    dds_ostream_t os;
+    os.m_buffer = NULL;
+    os.m_index = 0;
+    os.m_size = 0;
+    os.m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2;
+
+    example_interfaces_srv_AddTwoInts_Request req;
+    req.a = (int64_t)(atoi(req_a));
+    req.b = (int64_t)(atoi(req_b));
+    
+    printf("Sending Query '%s'... with a = %ld, b = %ld\n", keyexpr, req.a, req.b);
+    // Allocate buffer for serialized message
+    uint8_t *buf = malloc(sizeof(ros2_header));
+
+    // Add ROS2 header
+    memcpy(buf, ros2_header, sizeof(ros2_header));
+    os.m_buffer = buf;
+    os.m_index = sizeof(ros2_header);  // Offset for CDR Xtypes header
+    os.m_size = sizeof(ros2_header);
+    os.m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2;
+
+    struct dds_cdrstream_desc desc_wr;
+    dds_cdrstream_desc_init(&desc_wr, &allocator, 
+            example_interfaces_srv_AddTwoInts_Request_desc.m_size, 
+            example_interfaces_srv_AddTwoInts_Request_desc.m_align, 
+            example_interfaces_srv_AddTwoInts_Request_desc.m_flagset,
+            example_interfaces_srv_AddTwoInts_Request_desc.m_ops,
+            example_interfaces_srv_AddTwoInts_Request_desc.m_keys,
+            example_interfaces_srv_AddTwoInts_Request_desc.m_nkeys);
+    
+    // Do serialization
+    bool ret = dds_stream_write_sample(&os, &allocator, (void *)&req, &desc_wr);
+    if (!ret) {
+      printf("dds_stream_write_sampleLE failed\n");
+      exit(-1);
+    }
+
+    z_get_options_t opts = z_get_options_default();
+    opts.value.payload.start = os.m_buffer;
+    opts.value.payload.len = os.m_index;
+    opts.value.payload._is_alloc = false;
+
+    z_owned_closure_reply_t callback = z_closure_reply(reply_handler, reply_dropper, NULL);
+    if (z_get(z_session_loan(&s), ke, "", z_closure_reply_move(&callback), &opts) < 0) {
+        printf("Unable to send query.\n");
+        return -1;
+    }
+
+    z_condvar_wait(&cond, &mutex);
+    z_mutex_unlock(&mutex);
+
+    dds_cdrstream_desc_fini(&desc_wr, &allocator);
+
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_session_loan(&s));
+    zp_stop_lease_task(z_session_loan(&s));
+
+    z_close(z_session_move(&s));
+
+    return 0;
+}
diff --git a/examples/zenoh-pico/idlc/builtin_interfaces/msg/Time.c b/examples/zenoh-pico/idlc/builtin_interfaces/msg/Time.c
new file mode 100644
index 0000000..0850181
--- /dev/null
+++ b/examples/zenoh-pico/idlc/builtin_interfaces/msg/Time.c
@@ -0,0 +1,66 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to C Translator
+  File name: builtin_interfaces/msg/Time.c
+  Source: builtin_interfaces/msg/Time.idl
+  Cyclone DDS: V0.10.4
+
+*****************************************************************/
+#include "Time.h"
+
+static const uint32_t builtin_interfaces_msg_Time_ops [] =
+{
+  /* Time */
+  DDS_OP_ADR | DDS_OP_TYPE_4BY | DDS_OP_FLAG_SGN, offsetof (builtin_interfaces_msg_Time, sec),
+  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (builtin_interfaces_msg_Time, nanosec),
+  DDS_OP_RTS
+};
+
+/* Type Information:
+  [MINIMAL 567c5a93541c3b1086a4ba46f98d] (#deps: 0)
+  [COMPLETE 8002f4258a57323b30e23d570ec1] (#deps: 0)
+*/
+#define TYPE_INFO_CDR_builtin_interfaces_msg_Time (unsigned char []){ \
+  0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, \
+  0x14, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, \
+  0x46, 0xf9, 0x8d, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, \
+  0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, \
+  0x14, 0x00, 0x00, 0x00, 0xf2, 0x80, 0x02, 0xf4, 0x25, 0x8a, 0x57, 0x32, 0x3b, 0x30, 0xe2, 0x3d, \
+  0x57, 0x0e, 0xc1, 0x00, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, \
+  0x00, 0x00, 0x00, 0x00\
+}
+#define TYPE_INFO_CDR_SZ_builtin_interfaces_msg_Time 100u
+#define TYPE_MAP_CDR_builtin_interfaces_msg_Time (unsigned char []){ \
+  0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, \
+  0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, \
+  0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, \
+  0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x74, 0x45, 0x9c, 0xa3, 0x00, \
+  0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xe2, 0x04, 0x64, 0xd5, 0x00, \
+  0x82, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x80, 0x02, 0xf4, 0x25, 0x8a, 0x57, 0x32, \
+  0x3b, 0x30, 0xe2, 0x3d, 0x57, 0x0e, 0xc1, 0x00, 0x6a, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, \
+  0x26, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x62, 0x75, 0x69, 0x6c, \
+  0x74, 0x69, 0x6e, 0x5f, 0x69, 0x6e, 0x74, 0x65, 0x72, 0x66, 0x61, 0x63, 0x65, 0x73, 0x3a, 0x3a, \
+  0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x54, 0x69, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x36, 0x00, 0x00, 0x00, \
+  0x02, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, \
+  0x04, 0x00, 0x00, 0x00, 0x73, 0x65, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x08, 0x00, 0x00, 0x00, 0x6e, 0x61, 0x6e, 0x6f, \
+  0x73, 0x65, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, \
+  0xf2, 0x80, 0x02, 0xf4, 0x25, 0x8a, 0x57, 0x32, 0x3b, 0x30, 0xe2, 0x3d, 0x57, 0x0e, 0xc1, 0xf1, \
+  0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d\
+}
+#define TYPE_MAP_CDR_SZ_builtin_interfaces_msg_Time 254u
+const dds_topic_descriptor_t builtin_interfaces_msg_Time_desc =
+{
+  .m_size = sizeof (builtin_interfaces_msg_Time),
+  .m_align = dds_alignof (builtin_interfaces_msg_Time),
+  .m_flagset = DDS_TOPIC_FIXED_SIZE | DDS_TOPIC_XTYPES_METADATA,
+  .m_nkeys = 0u,
+  .m_typename = "builtin_interfaces::msg::Time",
+  .m_keys = NULL,
+  .m_nops = 3,
+  .m_ops = builtin_interfaces_msg_Time_ops,
+  .m_meta = "",
+  .type_information = { .data = TYPE_INFO_CDR_builtin_interfaces_msg_Time, .sz = TYPE_INFO_CDR_SZ_builtin_interfaces_msg_Time },
+  .type_mapping = { .data = TYPE_MAP_CDR_builtin_interfaces_msg_Time, .sz = TYPE_MAP_CDR_SZ_builtin_interfaces_msg_Time }
+};
+
diff --git a/examples/zenoh-pico/idlc/builtin_interfaces/msg/Time.h b/examples/zenoh-pico/idlc/builtin_interfaces/msg/Time.h
new file mode 100644
index 0000000..80ee890
--- /dev/null
+++ b/examples/zenoh-pico/idlc/builtin_interfaces/msg/Time.h
@@ -0,0 +1,36 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to C Translator
+  File name: builtin_interfaces/msg/Time.h
+  Source: builtin_interfaces/msg/Time.idl
+  Cyclone DDS: V0.10.4
+
+*****************************************************************/
+#ifndef DDSC__HOME_R22052_WORKSPACE_CSDK_BUILD_AUTEL_MSGS_SRC_BUILTIN_INTERFACES_MSG_TIME_H
+#define DDSC__HOME_R22052_WORKSPACE_CSDK_BUILD_AUTEL_MSGS_SRC_BUILTIN_INTERFACES_MSG_TIME_H
+
+#include "dds/ddsc/dds_public_impl.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct builtin_interfaces_msg_Time
+{
+  int32_t sec;
+  uint32_t nanosec;
+} builtin_interfaces_msg_Time;
+
+extern const dds_topic_descriptor_t builtin_interfaces_msg_Time_desc;
+
+#define builtin_interfaces_msg_Time__alloc() \
+((builtin_interfaces_msg_Time*) dds_alloc (sizeof (builtin_interfaces_msg_Time)));
+
+#define builtin_interfaces_msg_Time_free(d,o) \
+dds_sample_free ((d), &builtin_interfaces_msg_Time_desc, (o))
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* DDSC__HOME_R22052_WORKSPACE_CSDK_BUILD_AUTEL_MSGS_SRC_BUILTIN_INTERFACES_MSG_TIME_H */
diff --git a/examples/zenoh-pico/idlc/example_interfaces/srv/AddTwoInts.c b/examples/zenoh-pico/idlc/example_interfaces/srv/AddTwoInts.c
new file mode 100644
index 0000000..3732caf
--- /dev/null
+++ b/examples/zenoh-pico/idlc/example_interfaces/srv/AddTwoInts.c
@@ -0,0 +1,120 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to C Translator
+  File name: example_interfaces/srv/AddTwoInts.c
+  Source: example_interfaces/srv/AddTwoInts.idl
+  Cyclone DDS: V0.10.4
+
+*****************************************************************/
+#include "AddTwoInts.h"
+
+static const uint32_t example_interfaces_srv_AddTwoInts_Request_ops [] =
+{
+  /* AddTwoInts_Request */
+  DDS_OP_ADR | DDS_OP_TYPE_8BY | DDS_OP_FLAG_SGN, offsetof (example_interfaces_srv_AddTwoInts_Request, a),
+  DDS_OP_ADR | DDS_OP_TYPE_8BY | DDS_OP_FLAG_SGN, offsetof (example_interfaces_srv_AddTwoInts_Request, b),
+  DDS_OP_RTS
+};
+
+/* Type Information:
+  [MINIMAL 0d2eecf8a24a1b9b0cdd18d529cd] (#deps: 0)
+  [COMPLETE 7497b44641821568bcaa98d7bdea] (#deps: 0)
+*/
+#define TYPE_INFO_CDR_example_interfaces_srv_AddTwoInts_Request (unsigned char []){ \
+  0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, \
+  0x14, 0x00, 0x00, 0x00, 0xf1, 0x0d, 0x2e, 0xec, 0xf8, 0xa2, 0x4a, 0x1b, 0x9b, 0x0c, 0xdd, 0x18, \
+  0xd5, 0x29, 0xcd, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, \
+  0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, \
+  0x14, 0x00, 0x00, 0x00, 0xf2, 0x74, 0x97, 0xb4, 0x46, 0x41, 0x82, 0x15, 0x68, 0xbc, 0xaa, 0x98, \
+  0xd7, 0xbd, 0xea, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, \
+  0x00, 0x00, 0x00, 0x00\
+}
+#define TYPE_INFO_CDR_SZ_example_interfaces_srv_AddTwoInts_Request 100u
+#define TYPE_MAP_CDR_example_interfaces_srv_AddTwoInts_Request (unsigned char []){ \
+  0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x0d, 0x2e, 0xec, 0xf8, 0xa2, 0x4a, 0x1b, \
+  0x9b, 0x0c, 0xdd, 0x18, 0xd5, 0x29, 0xcd, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, \
+  0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, \
+  0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x0c, 0xc1, 0x75, 0xb9, 0x00, \
+  0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x92, 0xeb, 0x5f, 0xfe, 0x00, \
+  0x84, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x74, 0x97, 0xb4, 0x46, 0x41, 0x82, 0x15, \
+  0x68, 0xbc, 0xaa, 0x98, 0xd7, 0xbd, 0xea, 0x00, 0x6c, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, \
+  0x34, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2c, 0x00, 0x00, 0x00, 0x65, 0x78, 0x61, 0x6d, \
+  0x70, 0x6c, 0x65, 0x5f, 0x69, 0x6e, 0x74, 0x65, 0x72, 0x66, 0x61, 0x63, 0x65, 0x73, 0x3a, 0x3a, \
+  0x73, 0x72, 0x76, 0x3a, 0x3a, 0x41, 0x64, 0x64, 0x54, 0x77, 0x6f, 0x49, 0x6e, 0x74, 0x73, 0x5f, \
+  0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x00, 0x2c, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, \
+  0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x00, 0x02, 0x00, 0x00, 0x00, \
+  0x61, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x00, \
+  0x02, 0x00, 0x00, 0x00, 0x62, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, \
+  0xf2, 0x74, 0x97, 0xb4, 0x46, 0x41, 0x82, 0x15, 0x68, 0xbc, 0xaa, 0x98, 0xd7, 0xbd, 0xea, 0xf1, \
+  0x0d, 0x2e, 0xec, 0xf8, 0xa2, 0x4a, 0x1b, 0x9b, 0x0c, 0xdd, 0x18, 0xd5, 0x29, 0xcd\
+}
+#define TYPE_MAP_CDR_SZ_example_interfaces_srv_AddTwoInts_Request 254u
+const dds_topic_descriptor_t example_interfaces_srv_AddTwoInts_Request_desc =
+{
+  .m_size = sizeof (example_interfaces_srv_AddTwoInts_Request),
+  .m_align = dds_alignof (example_interfaces_srv_AddTwoInts_Request),
+  .m_flagset = DDS_TOPIC_FIXED_SIZE | DDS_TOPIC_XTYPES_METADATA,
+  .m_nkeys = 0u,
+  .m_typename = "example_interfaces::srv::AddTwoInts_Request",
+  .m_keys = NULL,
+  .m_nops = 3,
+  .m_ops = example_interfaces_srv_AddTwoInts_Request_ops,
+  .m_meta = "",
+  .type_information = { .data = TYPE_INFO_CDR_example_interfaces_srv_AddTwoInts_Request, .sz = TYPE_INFO_CDR_SZ_example_interfaces_srv_AddTwoInts_Request },
+  .type_mapping = { .data = TYPE_MAP_CDR_example_interfaces_srv_AddTwoInts_Request, .sz = TYPE_MAP_CDR_SZ_example_interfaces_srv_AddTwoInts_Request }
+};
+
+static const uint32_t example_interfaces_srv_AddTwoInts_Response_ops [] =
+{
+  /* AddTwoInts_Response */
+  DDS_OP_ADR | DDS_OP_TYPE_8BY | DDS_OP_FLAG_SGN, offsetof (example_interfaces_srv_AddTwoInts_Response, sum),
+  DDS_OP_RTS
+};
+
+/* Type Information:
+  [MINIMAL a8819e9a441198929f6a0e0a54da] (#deps: 0)
+  [COMPLETE a3223aabc9fe3e105e7788bf5cbc] (#deps: 0)
+*/
+#define TYPE_INFO_CDR_example_interfaces_srv_AddTwoInts_Response (unsigned char []){ \
+  0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, \
+  0x14, 0x00, 0x00, 0x00, 0xf1, 0xa8, 0x81, 0x9e, 0x9a, 0x44, 0x11, 0x98, 0x92, 0x9f, 0x6a, 0x0e, \
+  0x0a, 0x54, 0xda, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, \
+  0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, \
+  0x14, 0x00, 0x00, 0x00, 0xf2, 0xa3, 0x22, 0x3a, 0xab, 0xc9, 0xfe, 0x3e, 0x10, 0x5e, 0x77, 0x88, \
+  0xbf, 0x5c, 0xbc, 0x00, 0x62, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, \
+  0x00, 0x00, 0x00, 0x00\
+}
+#define TYPE_INFO_CDR_SZ_example_interfaces_srv_AddTwoInts_Response 100u
+#define TYPE_MAP_CDR_example_interfaces_srv_AddTwoInts_Response (unsigned char []){ \
+  0x3b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xa8, 0x81, 0x9e, 0x9a, 0x44, 0x11, 0x98, \
+  0x92, 0x9f, 0x6a, 0x0e, 0x0a, 0x54, 0xda, 0x00, 0x23, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, \
+  0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, \
+  0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x1d, 0x62, 0x3b, 0x89, 0x00, \
+  0x76, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa3, 0x22, 0x3a, 0xab, 0xc9, 0xfe, 0x3e, \
+  0x10, 0x5e, 0x77, 0x88, 0xbf, 0x5c, 0xbc, 0x00, 0x5e, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, \
+  0x35, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2d, 0x00, 0x00, 0x00, 0x65, 0x78, 0x61, 0x6d, \
+  0x70, 0x6c, 0x65, 0x5f, 0x69, 0x6e, 0x74, 0x65, 0x72, 0x66, 0x61, 0x63, 0x65, 0x73, 0x3a, 0x3a, \
+  0x73, 0x72, 0x76, 0x3a, 0x3a, 0x41, 0x64, 0x64, 0x54, 0x77, 0x6f, 0x49, 0x6e, 0x74, 0x73, 0x5f, \
+  0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x00, \
+  0x04, 0x00, 0x00, 0x00, 0x73, 0x75, 0x6d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0x00, 0x00, 0xf2, 0xa3, 0x22, 0x3a, 0xab, 0xc9, 0xfe, 0x3e, 0x10, 0x5e, 0x77, 0x88, \
+  0xbf, 0x5c, 0xbc, 0xf1, 0xa8, 0x81, 0x9e, 0x9a, 0x44, 0x11, 0x98, 0x92, 0x9f, 0x6a, 0x0e, 0x0a, \
+  0x54, 0xda\
+}
+#define TYPE_MAP_CDR_SZ_example_interfaces_srv_AddTwoInts_Response 226u
+const dds_topic_descriptor_t example_interfaces_srv_AddTwoInts_Response_desc =
+{
+  .m_size = sizeof (example_interfaces_srv_AddTwoInts_Response),
+  .m_align = dds_alignof (example_interfaces_srv_AddTwoInts_Response),
+  .m_flagset = DDS_TOPIC_FIXED_SIZE | DDS_TOPIC_XTYPES_METADATA,
+  .m_nkeys = 0u,
+  .m_typename = "example_interfaces::srv::AddTwoInts_Response",
+  .m_keys = NULL,
+  .m_nops = 2,
+  .m_ops = example_interfaces_srv_AddTwoInts_Response_ops,
+  .m_meta = "",
+  .type_information = { .data = TYPE_INFO_CDR_example_interfaces_srv_AddTwoInts_Response, .sz = TYPE_INFO_CDR_SZ_example_interfaces_srv_AddTwoInts_Response },
+  .type_mapping = { .data = TYPE_MAP_CDR_example_interfaces_srv_AddTwoInts_Response, .sz = TYPE_MAP_CDR_SZ_example_interfaces_srv_AddTwoInts_Response }
+};
+
diff --git a/examples/zenoh-pico/idlc/example_interfaces/srv/AddTwoInts.h b/examples/zenoh-pico/idlc/example_interfaces/srv/AddTwoInts.h
new file mode 100644
index 0000000..bd96fc7
--- /dev/null
+++ b/examples/zenoh-pico/idlc/example_interfaces/srv/AddTwoInts.h
@@ -0,0 +1,49 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to C Translator
+  File name: example_interfaces/srv/AddTwoInts.h
+  Source: example_interfaces/srv/AddTwoInts.idl
+  Cyclone DDS: V0.10.4
+
+*****************************************************************/
+#ifndef DDSC__HOME_R22052_WORKSPACE_CSDK_BUILD_AUTEL_MSGS_SRC_EXAMPLE_INTERFACES_SRV_ADDTWOINTS_H
+#define DDSC__HOME_R22052_WORKSPACE_CSDK_BUILD_AUTEL_MSGS_SRC_EXAMPLE_INTERFACES_SRV_ADDTWOINTS_H
+
+#include "dds/ddsc/dds_public_impl.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct example_interfaces_srv_AddTwoInts_Request
+{
+  int64_t a;
+  int64_t b;
+} example_interfaces_srv_AddTwoInts_Request;
+
+extern const dds_topic_descriptor_t example_interfaces_srv_AddTwoInts_Request_desc;
+
+#define example_interfaces_srv_AddTwoInts_Request__alloc() \
+((example_interfaces_srv_AddTwoInts_Request*) dds_alloc (sizeof (example_interfaces_srv_AddTwoInts_Request)));
+
+#define example_interfaces_srv_AddTwoInts_Request_free(d,o) \
+dds_sample_free ((d), &example_interfaces_srv_AddTwoInts_Request_desc, (o))
+
+typedef struct example_interfaces_srv_AddTwoInts_Response
+{
+  int64_t sum;
+} example_interfaces_srv_AddTwoInts_Response;
+
+extern const dds_topic_descriptor_t example_interfaces_srv_AddTwoInts_Response_desc;
+
+#define example_interfaces_srv_AddTwoInts_Response__alloc() \
+((example_interfaces_srv_AddTwoInts_Response*) dds_alloc (sizeof (example_interfaces_srv_AddTwoInts_Response)));
+
+#define example_interfaces_srv_AddTwoInts_Response_free(d,o) \
+dds_sample_free ((d), &example_interfaces_srv_AddTwoInts_Response_desc, (o))
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* DDSC__HOME_R22052_WORKSPACE_CSDK_BUILD_AUTEL_MSGS_SRC_EXAMPLE_INTERFACES_SRV_ADDTWOINTS_H */
diff --git a/examples/zenoh-pico/idlc/rcl_interfaces/msg/Log.c b/examples/zenoh-pico/idlc/rcl_interfaces/msg/Log.c
new file mode 100644
index 0000000..0cf1432
--- /dev/null
+++ b/examples/zenoh-pico/idlc/rcl_interfaces/msg/Log.c
@@ -0,0 +1,110 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to C Translator
+  File name: rcl_interfaces/msg/Log.c
+  Source: rcl_interfaces/msg/Log.idl
+  Cyclone DDS: V0.10.4
+
+*****************************************************************/
+#include "Log.h"
+
+static const uint32_t rcl_interfaces_msg_Log_ops [] =
+{
+  /* Log */
+  DDS_OP_ADR | DDS_OP_TYPE_EXT, offsetof (rcl_interfaces_msg_Log, stamp), (3u << 16u) + 16u /* Time */,
+  DDS_OP_ADR | DDS_OP_TYPE_1BY, offsetof (rcl_interfaces_msg_Log, level),
+  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (rcl_interfaces_msg_Log, name),
+  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (rcl_interfaces_msg_Log, msg),
+  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (rcl_interfaces_msg_Log, file),
+  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (rcl_interfaces_msg_Log, function),
+  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (rcl_interfaces_msg_Log, line),
+  DDS_OP_RTS,
+
+  /* Time */
+  DDS_OP_ADR | DDS_OP_TYPE_4BY | DDS_OP_FLAG_SGN, offsetof (builtin_interfaces_msg_Time, sec),
+  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (builtin_interfaces_msg_Time, nanosec),
+  DDS_OP_RTS
+};
+
+/* Type Information:
+  [MINIMAL ea847fff605e3b008ad26813b68e] (#deps: 1)
+   - [MINIMAL 567c5a93541c3b1086a4ba46f98d]
+  [COMPLETE 8fb4a1390ccbf04409935bca9fac] (#deps: 1)
+   - [COMPLETE 8002f4258a57323b30e23d570ec1]
+*/
+#define TYPE_INFO_CDR_rcl_interfaces_msg_Log (unsigned char []){ \
+  0x90, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, \
+  0x14, 0x00, 0x00, 0x00, 0xf1, 0xea, 0x84, 0x7f, 0xff, 0x60, 0x5e, 0x3b, 0x00, 0x8a, 0xd2, 0x68, \
+  0x13, 0xb6, 0x8e, 0x00, 0x97, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, \
+  0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x37, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, \
+  0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x8f, 0xb4, 0xa1, \
+  0x39, 0x0c, 0xcb, 0xf0, 0x44, 0x09, 0x93, 0x5b, 0xca, 0x9f, 0xac, 0x00, 0xf3, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, \
+  0xf2, 0x80, 0x02, 0xf4, 0x25, 0x8a, 0x57, 0x32, 0x3b, 0x30, 0xe2, 0x3d, 0x57, 0x0e, 0xc1, 0x00, \
+  0x6e, 0x00, 0x00, 0x00\
+}
+#define TYPE_INFO_CDR_SZ_rcl_interfaces_msg_Log 148u
+#define TYPE_MAP_CDR_rcl_interfaces_msg_Log (unsigned char []){ \
+  0xf3, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf1, 0xea, 0x84, 0x7f, 0xff, 0x60, 0x5e, 0x3b, \
+  0x00, 0x8a, 0xd2, 0x68, 0x13, 0xb6, 0x8e, 0x00, 0x93, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, \
+  0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x83, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, \
+  0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, \
+  0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x96, 0xb8, 0xc7, 0x8d, 0x00, 0x00, 0x00, \
+  0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xc9, 0xe9, 0xa8, 0x48, 0x00, \
+  0x0c, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xb0, 0x68, 0x93, 0x1c, \
+  0x0c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x6e, 0x2b, 0xaa, 0xf3, \
+  0x0c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x8c, 0x7d, 0xd9, 0x22, \
+  0x0c, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xc1, 0xc4, 0x25, 0x26, \
+  0x0b, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x64, 0x38, 0xc6, 0x69, 0xf1, \
+  0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x00, \
+  0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \
+  0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0x04, 0x74, 0x45, 0x9c, 0xa3, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0x07, 0xe2, 0x04, 0x64, 0xd5, 0x00, 0x86, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, \
+  0xf2, 0x8f, 0xb4, 0xa1, 0x39, 0x0c, 0xcb, 0xf0, 0x44, 0x09, 0x93, 0x5b, 0xca, 0x9f, 0xac, 0x00, \
+  0xef, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x21, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \
+  0x19, 0x00, 0x00, 0x00, 0x72, 0x63, 0x6c, 0x5f, 0x69, 0x6e, 0x74, 0x65, 0x72, 0x66, 0x61, 0x63, \
+  0x65, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x4c, 0x6f, 0x67, 0x00, 0x00, 0x00, 0x00, \
+  0xbf, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0xf2, 0x80, 0x02, 0xf4, 0x25, 0x8a, 0x57, 0x32, 0x3b, 0x30, 0xe2, 0x3d, 0x57, 0x0e, \
+  0xc1, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x73, 0x74, 0x61, 0x6d, 0x70, 0x00, 0x00, 0x00, \
+  0x14, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x06, 0x00, 0x00, 0x00, \
+  0x6c, 0x65, 0x76, 0x65, 0x6c, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6e, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x00, \
+  0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x04, 0x00, 0x00, 0x00, \
+  0x6d, 0x73, 0x67, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, 0x66, 0x69, 0x6c, 0x65, 0x00, 0x00, 0x00, 0x00, \
+  0x17, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x09, 0x00, 0x00, 0x00, \
+  0x66, 0x75, 0x6e, 0x63, 0x74, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, \
+  0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6c, 0x69, 0x6e, 0x65, \
+  0x00, 0x00, 0x00, 0xf2, 0x80, 0x02, 0xf4, 0x25, 0x8a, 0x57, 0x32, 0x3b, 0x30, 0xe2, 0x3d, 0x57, \
+  0x0e, 0xc1, 0x00, 0x00, 0x6a, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x26, 0x00, 0x00, 0x00, \
+  0x00, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x62, 0x75, 0x69, 0x6c, 0x74, 0x69, 0x6e, 0x5f, \
+  0x69, 0x6e, 0x74, 0x65, 0x72, 0x66, 0x61, 0x63, 0x65, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, \
+  0x3a, 0x54, 0x69, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x36, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, \
+  0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, \
+  0x73, 0x65, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, \
+  0x01, 0x00, 0x07, 0x00, 0x08, 0x00, 0x00, 0x00, 0x6e, 0x61, 0x6e, 0x6f, 0x73, 0x65, 0x63, 0x00, \
+  0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf2, 0x8f, 0xb4, 0xa1, \
+  0x39, 0x0c, 0xcb, 0xf0, 0x44, 0x09, 0x93, 0x5b, 0xca, 0x9f, 0xac, 0xf1, 0xea, 0x84, 0x7f, 0xff, \
+  0x60, 0x5e, 0x3b, 0x00, 0x8a, 0xd2, 0x68, 0x13, 0xb6, 0x8e, 0xf2, 0x80, 0x02, 0xf4, 0x25, 0x8a, \
+  0x57, 0x32, 0x3b, 0x30, 0xe2, 0x3d, 0x57, 0x0e, 0xc1, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, \
+  0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d\
+}
+#define TYPE_MAP_CDR_SZ_rcl_interfaces_msg_Log 712u
+const dds_topic_descriptor_t rcl_interfaces_msg_Log_desc =
+{
+  .m_size = sizeof (rcl_interfaces_msg_Log),
+  .m_align = dds_alignof (rcl_interfaces_msg_Log),
+  .m_flagset = DDS_TOPIC_XTYPES_METADATA,
+  .m_nkeys = 0u,
+  .m_typename = "rcl_interfaces::msg::Log",
+  .m_keys = NULL,
+  .m_nops = 11,
+  .m_ops = rcl_interfaces_msg_Log_ops,
+  .m_meta = "",
+  .type_information = { .data = TYPE_INFO_CDR_rcl_interfaces_msg_Log, .sz = TYPE_INFO_CDR_SZ_rcl_interfaces_msg_Log },
+  .type_mapping = { .data = TYPE_MAP_CDR_rcl_interfaces_msg_Log, .sz = TYPE_MAP_CDR_SZ_rcl_interfaces_msg_Log }
+};
+
diff --git a/examples/zenoh-pico/idlc/rcl_interfaces/msg/Log.h b/examples/zenoh-pico/idlc/rcl_interfaces/msg/Log.h
new file mode 100644
index 0000000..a7bdfb5
--- /dev/null
+++ b/examples/zenoh-pico/idlc/rcl_interfaces/msg/Log.h
@@ -0,0 +1,48 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to C Translator
+  File name: rcl_interfaces/msg/Log.h
+  Source: rcl_interfaces/msg/Log.idl
+  Cyclone DDS: V0.10.4
+
+*****************************************************************/
+#ifndef DDSC__HOME_R22052_WORKSPACE_CSDK_BUILD_AUTEL_MSGS_SRC_RCL_INTERFACES_MSG_LOG_H
+#define DDSC__HOME_R22052_WORKSPACE_CSDK_BUILD_AUTEL_MSGS_SRC_RCL_INTERFACES_MSG_LOG_H
+
+#include "builtin_interfaces/msg/Time.h"
+
+#include "dds/ddsc/dds_public_impl.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define rcl_interfaces_msg_Log_Constants_DEBUG 10
+#define rcl_interfaces_msg_Log_Constants_INFO 20
+#define rcl_interfaces_msg_Log_Constants_WARN 30
+#define rcl_interfaces_msg_Log_Constants_ERROR 40
+#define rcl_interfaces_msg_Log_Constants_FATAL 50
+typedef struct rcl_interfaces_msg_Log
+{
+  struct builtin_interfaces_msg_Time stamp;
+  uint8_t level;
+  char * name;
+  char * msg;
+  char * file;
+  char * function;
+  uint32_t line;
+} rcl_interfaces_msg_Log;
+
+extern const dds_topic_descriptor_t rcl_interfaces_msg_Log_desc;
+
+#define rcl_interfaces_msg_Log__alloc() \
+((rcl_interfaces_msg_Log*) dds_alloc (sizeof (rcl_interfaces_msg_Log)));
+
+#define rcl_interfaces_msg_Log_free(d,o) \
+dds_sample_free ((d), &rcl_interfaces_msg_Log_desc, (o))
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* DDSC__HOME_R22052_WORKSPACE_CSDK_BUILD_AUTEL_MSGS_SRC_RCL_INTERFACES_MSG_LOG_H */
diff --git a/examples/zenoh-pico/listener.c b/examples/zenoh-pico/listener.c
new file mode 100644
index 0000000..0b15ae7
--- /dev/null
+++ b/examples/zenoh-pico/listener.c
@@ -0,0 +1,152 @@
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <ctype.h>
+
+#include <zenoh-pico.h>
+#include "rcl_interfaces/msg/Log.h"
+// CycloneDDS CDR Deserializer
+#include <dds/cdr/dds_cdrstream.h>
+
+// CDR Xtypes header {0x00, 0x01} indicates it's Little Endian (CDR_LE representation)
+const uint8_t ros2_header[4] = {0x00, 0x01, 0x00, 0x00};
+
+static dds_cdrstream_allocator_t allocator = {.malloc = malloc, .realloc = realloc, .free = free};
+
+static struct dds_cdrstream_desc desc_rd;
+
+void data_handler(const z_sample_t *sample, void *arg) {
+    (void)(arg);
+
+    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
+    printf(">> [Subscriber] Received ('%s' size '%d')\n", z_loan(keystr), (int)sample->payload.len);
+    z_drop(z_move(keystr));
+
+    dds_cdrstream_desc_init(&desc_rd, &allocator, 
+        rcl_interfaces_msg_Log_desc.m_size, 
+        rcl_interfaces_msg_Log_desc.m_align, 
+        rcl_interfaces_msg_Log_desc.m_flagset,
+        rcl_interfaces_msg_Log_desc.m_ops,
+        rcl_interfaces_msg_Log_desc.m_keys,
+        rcl_interfaces_msg_Log_desc.m_nkeys);
+    
+    uint32_t actual_size;
+    const bool byteswap = (sample->payload.start[1] != DDSRT_LITTLE_ENDIAN);
+    const bool norm_ok = dds_stream_normalize(
+            sample->payload.start + 4, 
+            sample->payload.len, 
+            byteswap, 
+            DDSI_RTPS_CDR_ENC_VERSION_2, &desc_rd, false, &actual_size);
+
+    if (!norm_ok) {
+        printf("dds_stream_normalize failed\n");
+        return;
+    }
+    
+    // Deserialize Msg
+    dds_istream_t is;
+    is.m_buffer = (char *)sample->payload.start + 4;
+    is.m_index = 0;
+    is.m_size = sample->payload.len;
+    is.m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2;
+
+    rcl_interfaces_msg_Log msg;
+
+    dds_stream_read_sample(&is, &msg, &allocator, &desc_rd);
+    /* print result */
+    char buf[5000];
+    is.m_index = 0;
+    dds_stream_print_sample (&is, &desc_rd, buf, 5000);
+    printf ("read sample: %s\n\n", buf);
+
+    dds_cdrstream_desc_fini(&desc_rd, &allocator);
+}
+
+
+int main(int argc, char **argv) {
+    const char *keyexpr = "rosout";
+    const char *mode = "client";
+    const char *clocator = NULL;
+    const char *llocator = NULL;
+
+    int opt;
+    while ((opt = getopt(argc, argv, "k:e:m:l:")) != -1) {
+        switch (opt) {
+            case 'k':
+                keyexpr = optarg;
+                break;
+            case 'e':
+                clocator = optarg;
+                break;
+            case 'm':
+                mode = optarg;
+                break;
+            case 'l':
+                llocator = optarg;
+                break;
+            case '?':
+                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l') {
+                    fprintf(stderr, "Option -%c requires an argument.\n", optopt);
+                } else {
+                    fprintf(stderr, "Unknown option `-%c'.\n", optopt);
+                }
+                return 1;
+            default:
+                return -1;
+        }
+    }
+
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_config_loan(&config), Z_CONFIG_MODE_KEY, z_string_make(mode));
+    if (clocator != NULL) {
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
+    }
+    if (llocator != NULL) {
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_config_move(&config));
+    if (!z_session_check(&s)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_session_loan(&s), NULL) < 0 || zp_start_lease_task(z_session_loan(&s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        z_close(z_session_move(&s));
+        return -1;
+    }
+
+    z_keyexpr_t ke = z_keyexpr(keyexpr);
+    if (!z_keyexpr_is_initialized(&ke)) {
+        printf("%s is not a valid key expression", keyexpr);
+        return -1;
+    }
+        
+    z_owned_closure_sample_t callback = z_closure_sample(data_handler, NULL, NULL);
+    printf("Declaring Subscriber on '%s'...\n", keyexpr);
+    z_owned_subscriber_t sub =
+        z_declare_subscriber(z_session_loan(&s), z_keyexpr(keyexpr), z_closure_sample_move(&callback), NULL);
+    if (!z_subscriber_check(&sub)) {
+        printf("Unable to declare subscriber.\n");
+        return -1;
+    }
+
+    printf("Enter 'q' to quit...\n");
+    char c = '\0';
+    while (c != 'q') {
+        fflush(stdin);
+        scanf("%c", &c);
+    }
+
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_session_loan(&s));
+    zp_stop_lease_task(z_session_loan(&s));
+
+    z_close(z_session_move(&s));
+
+    return 0;
+}
diff --git a/examples/zenoh-pico/talker.c b/examples/zenoh-pico/talker.c
new file mode 100644
index 0000000..a60915f
--- /dev/null
+++ b/examples/zenoh-pico/talker.c
@@ -0,0 +1,154 @@
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <ctype.h>
+
+#include <zenoh-pico.h>
+#include "rcl_interfaces/msg/Log.h"
+// CycloneDDS CDR Deserializer
+#include <dds/cdr/dds_cdrstream.h>
+
+// CDR Xtypes header {0x00, 0x01} indicates it's Little Endian (CDR_LE representation)
+const uint8_t ros2_header[4] = {0x00, 0x01, 0x00, 0x00};
+
+static dds_cdrstream_allocator_t allocator = {.malloc = malloc, .realloc = realloc, .free = free};
+
+const size_t alloc_size = 4096;  // Abitrary size
+
+int main(int argc, char **argv) {
+    const char *keyexpr = "rosout";
+    char *const default_value = "Pub from Pico!";
+    char *value = default_value;
+    const char *mode = "client";
+    char *clocator = NULL;
+    char *llocator = NULL;
+    int n = 2147483647;  // max int value by default
+
+    int opt;
+    while ((opt = getopt(argc, argv, "k:v:e:m:l:n:")) != -1) {
+        switch (opt) {
+            case 'k':
+                keyexpr = optarg;
+                break;
+            case 'v':
+                value = optarg;
+                break;
+            case 'e':
+                clocator = optarg;
+                break;
+            case 'm':
+                mode = optarg;
+                break;
+            case 'l':
+                llocator = optarg;
+                break;
+            case 'n':
+                n = atoi(optarg);
+                break;
+            case '?':
+                if (optopt == 'k' || optopt == 'v' || optopt == 'e' || optopt == 'm' || optopt == 'l' ||
+                    optopt == 'n') {
+                    fprintf(stderr, "Option -%c requires an argument.\n", optopt);
+                } else {
+                    fprintf(stderr, "Unknown option `-%c'.\n", optopt);
+                }
+                return 1;
+            default:
+                return -1;
+        }
+    }
+
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
+    if (clocator != NULL) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
+    }
+    if (llocator != NULL) {
+        zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        z_close(z_session_move(&s));
+        return -1;
+    }
+
+    printf("Declaring publisher for '%s'...\n", keyexpr);
+    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(keyexpr), NULL);
+    if (!z_check(pub)) {
+        printf("Unable to declare publisher for key expression!\n");
+        return -1;
+    }
+
+    // Set HelloWorld IDL message
+    rcl_interfaces_msg_Log msg;
+    msg.stamp.sec = 0;
+    msg.stamp.nanosec = 0;
+    msg.level = 20;
+    msg.name = "zenoh_log_test";
+    msg.msg = "Hello from Zenoh to ROS2 encoded with CycloneDDS dds_cdrstream serializer";
+    msg.function = "z_publisher_put";
+    msg.file = "z_pub_ros2.c";
+    msg.line = 140;
+
+    dds_ostream_t os;
+    // Allocate buffer for ROS2 header
+    uint8_t *buf = malloc(alloc_size);
+    memcpy(buf, ros2_header, sizeof(ros2_header));
+
+    struct dds_cdrstream_desc desc_wr;
+    dds_cdrstream_desc_init(&desc_wr, &allocator, 
+            rcl_interfaces_msg_Log_desc.m_size, 
+            rcl_interfaces_msg_Log_desc.m_align, 
+            rcl_interfaces_msg_Log_desc.m_flagset,
+            rcl_interfaces_msg_Log_desc.m_ops,
+            rcl_interfaces_msg_Log_desc.m_keys,
+            rcl_interfaces_msg_Log_desc.m_nkeys);
+
+    printf("Press CTRL-C to quit...\n");
+    for (int idx = 0; idx < n; ++idx) {
+        sleep(1);
+        printf("Putting Data ('%s')...\n", keyexpr);
+
+        os.m_buffer = buf;
+        os.m_index = sizeof(ros2_header);  // Offset for CDR Xtypes header
+        os.m_size = alloc_size;
+        os.m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2;
+
+        struct timespec ts;
+        timespec_get(&ts, TIME_UTC);
+        msg.stamp.sec = ts.tv_sec;
+        msg.stamp.nanosec = ts.tv_nsec;
+
+        // Do serialization
+        bool ret = dds_stream_write_sampleLE((dds_ostreamLE_t *)&os, &allocator, (void *)&msg, &desc_wr);
+        if (!ret) {
+            printf("dds_stream_write_sampleLE failed\n");
+            continue;
+        }
+
+        z_publisher_put_options_t options = z_publisher_put_options_default();
+        z_publisher_put(z_loan(pub), (const uint8_t *)os.m_buffer, os.m_index, &options);
+    }
+
+    z_undeclare_publisher(z_move(pub));
+
+    dds_cdrstream_desc_fini(&desc_wr, &allocator);
+
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+
+    z_close(z_move(s));
+
+    return 0;
+}
\ No newline at end of file