diff --git a/Cargo.lock b/Cargo.lock
index 01378d301..be46441b2 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -164,9 +164,9 @@ checksum = "4b46cbb362ab8752921c97e041f5e366ee6297bd428a31275b9fcf1e380f7299"
 
 [[package]]
 name = "anstream"
-version = "0.5.0"
+version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1f58811cfac344940f1a400b6e6231ce35171f614f26439e80f8c1465c5cc0c"
+checksum = "2ab91ebe16eb252986481c5b62f6098f3b698a45e34b5b98200cf20dd2484a44"
 dependencies = [
  "anstyle",
  "anstyle-parse",
@@ -197,17 +197,17 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5ca11d4be1bab0c8bc8734a9aa7bf4ee8316d462a08c6ac5052f888fef5b494b"
 dependencies = [
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
 name = "anstyle-wincon"
-version = "2.1.0"
+version = "3.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58f54d10c6dfa51283a066ceab3ec1ab78d13fae00aa49243a45e4571fb79dfd"
+checksum = "1cd54b81ec8d6180e24654d0b371ad22fc3dd083b6ff8ba325b72e00c87660a7"
 dependencies = [
  "anstyle",
- "windows-sys",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -355,7 +355,7 @@ dependencies = [
  "futures-lite",
  "rustix 0.37.25",
  "signal-hook",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -454,17 +454,6 @@ version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1181e1e0d1fce796a03db1ae795d67167da795f9cf4a39c37589e85ef57f26d3"
 
-[[package]]
-name = "atty"
-version = "0.2.14"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9b39be18770d11421cdb1b9947a45dd3f37e93092cbf377614828a319d5fee8"
-dependencies = [
- "hermit-abi 0.1.19",
- "libc",
- "winapi",
-]
-
 [[package]]
 name = "autocfg"
 version = "1.1.0"
@@ -669,7 +658,7 @@ dependencies = [
  "num-traits",
  "serde",
  "wasm-bindgen",
- "windows-targets",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
@@ -720,24 +709,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "3.2.25"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4ea181bf566f71cb9a5d17a59e1871af638180a18fb0035c92ae62b705207123"
-dependencies = [
- "atty",
- "bitflags 1.3.2",
- "clap_lex 0.2.4",
- "indexmap 1.9.3",
- "strsim",
- "termcolor",
- "textwrap",
-]
-
-[[package]]
-name = "clap"
-version = "4.4.3"
+version = "4.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "84ed82781cea27b43c9b106a979fe450a13a31aab0500595fb3fc06616de08e6"
+checksum = "bfaff671f6b22ca62406885ece523383b9b64022e341e53e009a62ebc47a45f2"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -745,21 +719,21 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.4.2"
+version = "4.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2bb9faaa7c2ef94b2743a21f5a29e6f0010dff4caa69ac8e9d6cf8b6fa74da08"
+checksum = "a216b506622bb1d316cd51328dce24e07bdff4a6128a47c7e7fad11878d5adbb"
 dependencies = [
  "anstream",
  "anstyle",
- "clap_lex 0.5.1",
+ "clap_lex",
  "strsim",
 ]
 
 [[package]]
 name = "clap_derive"
-version = "4.4.2"
+version = "4.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0862016ff20d69b84ef8247369fabf5c008a7417002411897d40ee1f4532b873"
+checksum = "cf9804afaaf59a91e75b022a30fb7229a7901f60c755489cc61c9b423b836442"
 dependencies = [
  "heck",
  "proc-macro2",
@@ -769,18 +743,9 @@ dependencies = [
 
 [[package]]
 name = "clap_lex"
-version = "0.2.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2850f2f5a82cbf437dd5af4d49848fbdfc27c157c3d010345776f952765261c5"
-dependencies = [
- "os_str_bytes",
-]
-
-[[package]]
-name = "clap_lex"
-version = "0.5.1"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd7cc57abe963c6d3b9d8be5b06ba7c8957a930305ca90304f24ef040aa6f961"
+checksum = "702fc72eb24e5a1e48ce58027a675bc24edd52096d5397d4aea7c6dd9eca0bd1"
 
 [[package]]
 name = "cobs"
@@ -919,7 +884,7 @@ dependencies = [
  "anes",
  "cast",
  "ciborium",
- "clap 4.4.3",
+ "clap",
  "criterion-plot",
  "is-terminal",
  "itertools",
@@ -1114,7 +1079,7 @@ dependencies = [
  "libc",
  "option-ext",
  "redox_users",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1191,7 +1156,7 @@ checksum = "136526188508e25c6fef639d7927dfb3e0e3084488bf202267829cf7fc23dbdd"
 dependencies = [
  "errno-dragonfly",
  "libc",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1548,15 +1513,6 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8"
 
-[[package]]
-name = "hermit-abi"
-version = "0.1.19"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62b467343b94ba476dcb2500d242dadbb39557df889310ac77c5d99100aaac33"
-dependencies = [
- "libc",
-]
-
 [[package]]
 name = "hermit-abi"
 version = "0.3.2"
@@ -1614,7 +1570,7 @@ version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5444c27eef6923071f7ebcc33e3444508466a76f7a2b93da00ed6e19f30c1ddb"
 dependencies = [
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1798,9 +1754,9 @@ version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "eae7b9aee968036d54dce06cebaefd919e4472e753296daccd6d344e3e2df0c2"
 dependencies = [
- "hermit-abi 0.3.2",
+ "hermit-abi",
  "libc",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1824,9 +1780,9 @@ version = "0.4.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cb0889898416213fab133e1d33a0e5858a48177452750691bde3666d0fdbaf8b"
 dependencies = [
- "hermit-abi 0.3.2",
+ "hermit-abi",
  "rustix 0.38.13",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1883,7 +1839,7 @@ dependencies = [
  "anyhow",
  "base64 0.21.4",
  "bytecount",
- "clap 4.4.3",
+ "clap",
  "fancy-regex",
  "fraction",
  "getrandom 0.2.10",
@@ -1952,7 +1908,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d580318f95776505201b28cf98eb1fa5e4be3b689633ba6a3e6cd880ff22d8cb"
 dependencies = [
  "cfg-if 1.0.0",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2083,7 +2039,7 @@ dependencies = [
  "libc",
  "log",
  "wasi 0.11.0+wasi-snapshot-preview1",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2267,7 +2223,7 @@ version = "1.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4161fcb6d602d4d2081af7c3a45852d875a03dd337a6bfdd6e06407b61342a43"
 dependencies = [
- "hermit-abi 0.3.2",
+ "hermit-abi",
  "libc",
 ]
 
@@ -2319,12 +2275,6 @@ dependencies = [
  "num-traits",
 ]
 
-[[package]]
-name = "os_str_bytes"
-version = "6.5.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4d5d9eb14b174ee9aa2ef96dc2b94637a2d4b6e7cb873c7e171f0c20c6cf3eac"
-
 [[package]]
 name = "panic-message"
 version = "0.3.0"
@@ -2357,7 +2307,7 @@ dependencies = [
  "libc",
  "redox_syscall 0.3.5",
  "smallvec",
- "windows-targets",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
@@ -2637,7 +2587,7 @@ dependencies = [
  "libc",
  "log",
  "pin-project-lite 0.2.13",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2717,7 +2667,7 @@ dependencies = [
  "libc",
  "socket2 0.5.4",
  "tracing",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -3020,7 +2970,7 @@ dependencies = [
  "io-lifetimes",
  "libc",
  "linux-raw-sys 0.3.8",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -3033,7 +2983,7 @@ dependencies = [
  "errno 0.3.3",
  "libc",
  "linux-raw-sys 0.4.7",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -3100,7 +3050,7 @@ version = "0.1.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0c3733bf4cf7ea0880754e19cb5a462007c4a8c1914bff372ccc95b464f1df88"
 dependencies = [
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -3453,7 +3403,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4031e820eb552adee9295814c0ced9e5cf38ddf1e8b7d566d6de8e2538ea989e"
 dependencies = [
  "libc",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -3668,12 +3618,6 @@ dependencies = [
  "winapi-util",
 ]
 
-[[package]]
-name = "textwrap"
-version = "0.16.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "222a222a5bfe1bba4a77b45ec488a741b3cb8872e5e499451fd7d0129c9c7c3d"
-
 [[package]]
 name = "thiserror"
 version = "1.0.48"
@@ -3830,7 +3774,7 @@ dependencies = [
  "pin-project-lite 0.2.13",
  "socket2 0.5.4",
  "tokio-macros",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -4344,7 +4288,7 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e686886bc078bc1b0b600cac0147aadb815089b6e4da64016cbd754b6342700f"
 dependencies = [
- "windows-targets",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
@@ -4353,7 +4297,16 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
 dependencies = [
- "windows-targets",
+ "windows-targets 0.48.5",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+dependencies = [
+ "windows-targets 0.52.0",
 ]
 
 [[package]]
@@ -4362,21 +4315,42 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c"
 dependencies = [
- "windows_aarch64_gnullvm",
+ "windows_aarch64_gnullvm 0.48.5",
  "windows_aarch64_msvc 0.48.5",
  "windows_i686_gnu 0.48.5",
  "windows_i686_msvc 0.48.5",
  "windows_x86_64_gnu 0.48.5",
- "windows_x86_64_gnullvm",
+ "windows_x86_64_gnullvm 0.48.5",
  "windows_x86_64_msvc 0.48.5",
 ]
 
+[[package]]
+name = "windows-targets"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a18201040b24831fbb9e4eb208f8892e1f50a37feb53cc7ff887feb8f50e7cd"
+dependencies = [
+ "windows_aarch64_gnullvm 0.52.0",
+ "windows_aarch64_msvc 0.52.0",
+ "windows_i686_gnu 0.52.0",
+ "windows_i686_msvc 0.52.0",
+ "windows_x86_64_gnu 0.52.0",
+ "windows_x86_64_gnullvm 0.52.0",
+ "windows_x86_64_msvc 0.52.0",
+]
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
 
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cb7764e35d4db8a7921e09562a0304bf2f93e0a51bfccee0bd0bb0b666b015ea"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.34.0"
@@ -4389,6 +4363,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbaa0368d4f1d2aaefc55b6fcfee13f41544ddf36801e793edbbfd7d7df075ef"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.34.0"
@@ -4401,6 +4381,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a28637cb1fa3560a16915793afb20081aba2c92ee8af57b4d5f28e4b3e7df313"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.34.0"
@@ -4413,6 +4399,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ffe5e8e31046ce6230cc7215707b816e339ff4d4d67c65dffa206fd0f7aa7b9a"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.34.0"
@@ -4425,12 +4417,24 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6fa32db2bc4a2f5abeacf2b69f7992cd09dca97498da74a151a3132c26befd"
+
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
 
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1a657e1e9d3f514745a572a6846d3c7aa7dbe1658c056ed9c3344c4109a6949e"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.34.0"
@@ -4443,6 +4447,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
 
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
+
 [[package]]
 name = "winreg"
 version = "0.50.0"
@@ -4450,7 +4460,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "524e57b2c537c0f9b1e69f1965311ec12182b4122e45035b1508cd24d2adadb1"
 dependencies = [
  "cfg-if 1.0.0",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -4595,7 +4605,7 @@ name = "zenoh-examples"
 version = "0.11.0-dev"
 dependencies = [
  "async-std",
- "clap 3.2.25",
+ "clap",
  "env_logger",
  "flume",
  "futures",
@@ -4614,7 +4624,7 @@ version = "0.11.0-dev"
 dependencies = [
  "async-std",
  "bincode",
- "clap 3.2.25",
+ "clap",
  "env_logger",
  "flume",
  "futures",
@@ -4857,7 +4867,7 @@ name = "zenoh-plugin-example"
 version = "0.11.0-dev"
 dependencies = [
  "async-std",
- "clap 3.2.25",
+ "clap",
  "env_logger",
  "futures",
  "log",
@@ -4876,7 +4886,7 @@ dependencies = [
  "anyhow",
  "async-std",
  "base64 0.21.4",
- "clap 3.2.25",
+ "clap",
  "env_logger",
  "flume",
  "futures",
@@ -4903,7 +4913,7 @@ dependencies = [
  "async-global-executor",
  "async-std",
  "async-trait",
- "clap 3.2.25",
+ "clap",
  "crc",
  "derive-new",
  "env_logger",
@@ -5029,7 +5039,7 @@ version = "0.11.0-dev"
 dependencies = [
  "async-std",
  "async-trait",
- "clap 3.2.25",
+ "clap",
  "const_format",
  "flume",
  "futures",
@@ -5068,7 +5078,7 @@ name = "zenohd"
 version = "0.11.0-dev"
 dependencies = [
  "async-std",
- "clap 3.2.25",
+ "clap",
  "env_logger",
  "futures",
  "git-version",
diff --git a/Cargo.toml b/Cargo.toml
index 55797ab0d..4cba5d4dd 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -79,7 +79,7 @@ async-std = { version = "=1.12.0", default-features = false } # Default features
 async-trait = "0.1.60"
 base64 = "0.21.4"
 bincode = "1.3.3"
-clap = "3.2.23"
+clap = { version = "4.4.11", features = ["derive"] }
 const_format = "0.2.30"
 crc = "3.0.1"
 criterion = "0.5"
@@ -128,7 +128,7 @@ rustls = { version = "0.21.5", features = ["dangerous_configuration"] }
 rustls-native-certs = "0.6.2"
 rustls-pemfile = "1.0.2"
 schemars = "0.8.12"
-secrecy = {version = "0.8.0", features = ["serde", "alloc"]}
+secrecy = { version = "0.8.0", features = ["serde", "alloc"] }
 serde = { version = "1.0.154", default-features = false, features = [
   "derive",
 ] } # Default features are disabled due to usage in no_std crates
@@ -137,7 +137,7 @@ serde_yaml = "0.9.19"
 sha3 = "0.10.6"
 shared_memory = "0.12.4"
 shellexpand = "3.0.0"
-socket2 = { version ="0.5.1", features = [ "all" ] }
+socket2 = { version = "0.5.1", features = ["all"] }
 stop-token = "0.7.0"
 syn = "2.0"
 tide = "0.16.0"
diff --git a/examples/Cargo.toml b/examples/Cargo.toml
index b0f6507d2..0330972ca 100644
--- a/examples/Cargo.toml
+++ b/examples/Cargo.toml
@@ -42,7 +42,7 @@ transport_unixpipe = ["zenoh/transport_unixpipe"]
 
 [dependencies]
 async-std = { workspace = true, features = ["attributes"] }
-clap = { workspace = true }
+clap = { workspace = true, features = ["derive"] }
 env_logger = { workspace = true }
 flume = { workspace = true }
 futures = { workspace = true }
diff --git a/examples/examples/z_delete.rs b/examples/examples/z_delete.rs
index 183fcfbaf..f80e199d6 100644
--- a/examples/examples/z_delete.rs
+++ b/examples/examples/z_delete.rs
@@ -11,9 +11,10 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::Parser;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -31,51 +32,16 @@ async fn main() {
     session.close().res().await.unwrap();
 }
 
-fn parse_args() -> (Config, String) {
-    let args = App::new("zenoh delete example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(
-            Arg::from_usage(
-                "-k, --key=[KEYEXPR]        'The key expression matching resources to delete.'",
-            )
-            .default_value("demo/example/zenoh-rs-put"),
-        )
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = args.value_of("key").unwrap().to_string();
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "demo/example/zenoh-rs-put")]
+    /// The key expression to write to.
+    key: KeyExpr<'static>,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr)
+fn parse_args() -> (Config, KeyExpr<'static>) {
+    let args = Args::parse();
+    (args.common.into(), args.key)
 }
diff --git a/examples/examples/z_forward.rs b/examples/examples/z_forward.rs
index c5280f3c5..5dd786843 100644
--- a/examples/examples/z_forward.rs
+++ b/examples/examples/z_forward.rs
@@ -11,9 +11,10 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::Parser;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 use zenoh_ext::SubscriberForward;
 
 #[async_std::main]
@@ -34,55 +35,19 @@ async fn main() {
     subscriber.forward(publisher).await.unwrap();
 }
 
-fn parse_args() -> (Config, String, String) {
-    let args = App::new("zenoh sub example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR] 'The key expression to subscribe to.'")
-                .default_value("demo/example/**"),
-        )
-        .arg(
-            Arg::from_usage("-f, --forward=[KEYEXPR] 'The key expression to forward to.'")
-                .default_value("demo/forward"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = args.value_of("key").unwrap().to_string();
-
-    let forward = args.value_of("forward").unwrap().to_string();
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "demo/example/**")]
+    /// The key expression to subscribe to.
+    key: KeyExpr<'static>,
+    #[arg(short, long, default_value = "demo/forward")]
+    /// The key expression to forward to.
+    forward: KeyExpr<'static>,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr, forward)
+fn parse_args() -> (Config, KeyExpr<'static>, KeyExpr<'static>) {
+    let args = Args::parse();
+    (args.common.into(), args.key, args.forward)
 }
diff --git a/examples/examples/z_get.rs b/examples/examples/z_get.rs
index 70bec5adb..57c36c2e6 100644
--- a/examples/examples/z_get.rs
+++ b/examples/examples/z_get.rs
@@ -11,11 +11,12 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::Parser;
 use std::convert::TryFrom;
 use std::time::Duration;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -49,72 +50,49 @@ async fn main() {
     }
 }
 
-fn parse_args() -> (Config, String, Option<String>, QueryTarget, Duration) {
-    let args = App::new("zenoh query example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-s, --selector=[SELECTOR] 'The selection of resources to query'")
-                .default_value("demo/example/**"),
-        )
-        .arg(Arg::from_usage(
-            "-v, --value=[VALUE]      'An optional value to put in the query.'",
-        ))
-        .arg(
-            Arg::from_usage("-t, --target=[TARGET] 'The target queryables of the query'")
-                .possible_values(["BEST_MATCHING", "ALL", "ALL_COMPLETE"])
-                .default_value("BEST_MATCHING"),
-        )
-        .arg(
-            Arg::from_usage("-o, --timeout=[TIME] 'The query timeout in milliseconds'")
-                .default_value("10000"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let selector = args.value_of("selector").unwrap().to_string();
-
-    let value = args.value_of("value").map(ToOwned::to_owned);
-
-    let target = match args.value_of("target") {
-        Some("BEST_MATCHING") => QueryTarget::BestMatching,
-        Some("ALL") => QueryTarget::All,
-        Some("ALL_COMPLETE") => QueryTarget::AllComplete,
-        _ => QueryTarget::default(),
-    };
+#[derive(clap::ValueEnum, Clone, Copy, Debug)]
+#[value(rename_all = "SCREAMING_SNAKE_CASE")]
+enum Qt {
+    BestMatching,
+    All,
+    AllComplete,
+}
 
-    let timeout = Duration::from_millis(args.value_of("timeout").unwrap().parse::<u64>().unwrap());
+#[derive(Parser, Clone, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "demo/example/**")]
+    /// The selection of resources to query
+    selector: Selector<'static>,
+    #[arg(short, long)]
+    /// An optional value to put in the query.
+    value: Option<String>,
+    #[arg(short, long, default_value = "BEST_MATCHING")]
+    /// The target queryables of the query.
+    target: Qt,
+    #[arg(short = 'o', long, default_value = "10000")]
+    /// The query timeout in milliseconds.
+    timeout: u64,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, selector, value, target, timeout)
+fn parse_args() -> (
+    Config,
+    Selector<'static>,
+    Option<String>,
+    QueryTarget,
+    Duration,
+) {
+    let args = Args::parse();
+    (
+        args.common.into(),
+        args.selector,
+        args.value,
+        match args.target {
+            Qt::BestMatching => QueryTarget::BestMatching,
+            Qt::All => QueryTarget::All,
+            Qt::AllComplete => QueryTarget::AllComplete,
+        },
+        Duration::from_millis(args.timeout),
+    )
 }
diff --git a/examples/examples/z_get_liveliness.rs b/examples/examples/z_get_liveliness.rs
index 03e3566df..e0aaf8cd2 100644
--- a/examples/examples/z_get_liveliness.rs
+++ b/examples/examples/z_get_liveliness.rs
@@ -11,11 +11,12 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::Parser;
 use std::convert::TryFrom;
 use std::time::Duration;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -43,55 +44,20 @@ async fn main() {
     }
 }
 
-fn parse_args() -> (Config, String, Duration) {
-    let args = App::new("zenoh liveliness query example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-k, --key_expr=[KEYEXPR] 'The key expression matching liveliness tokens to query.'")
-                .default_value("group1/**"),
-        )
-        .arg(
-            Arg::from_usage("-o, --timeout=[TIME] 'The query timeout in milliseconds'")
-                .default_value("10000"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = args.value_of("key_expr").unwrap().to_string();
-
-    let timeout = Duration::from_millis(args.value_of("timeout").unwrap().parse::<u64>().unwrap());
+#[derive(Parser, Clone, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "group1/**")]
+    /// The key expression matching liveliness tokens to query.
+    key_expr: KeyExpr<'static>,
+    #[arg(short = 'o', long, default_value = "10000")]
+    /// The query timeout in milliseconds.
+    timeout: u64,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr, timeout)
+fn parse_args() -> (Config, KeyExpr<'static>, Duration) {
+    let args = Args::parse();
+    let timeout = Duration::from_millis(args.timeout);
+    (args.common.into(), args.key_expr, timeout)
 }
diff --git a/examples/examples/z_info.rs b/examples/examples/z_info.rs
index ccf51b211..ce752b2e7 100644
--- a/examples/examples/z_info.rs
+++ b/examples/examples/z_info.rs
@@ -11,9 +11,10 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::Parser;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -37,43 +38,13 @@ async fn main() {
     );
 }
 
-fn parse_args() -> Config {
-    let args = App::new("zenoh info example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    config
+fn parse_args() -> Config {
+    let args = Args::parse();
+    args.common.into()
 }
diff --git a/examples/examples/z_liveliness.rs b/examples/examples/z_liveliness.rs
index ae691f286..41890f7d7 100644
--- a/examples/examples/z_liveliness.rs
+++ b/examples/examples/z_liveliness.rs
@@ -12,12 +12,12 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 use async_std::task::sleep;
-use clap::{App, Arg};
+use clap::Parser;
 use futures::prelude::*;
-use std::convert::TryFrom;
 use std::time::Duration;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -58,51 +58,16 @@ async fn main() {
     }
 }
 
-fn parse_args() -> (Config, KeyExpr<'static>) {
-    let args = App::new("zenoh liveliness example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR] 'The key expression of the liveliness token.'")
-                .default_value("group1/zenoh-rs"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = KeyExpr::try_from(args.value_of("key").unwrap())
-        .unwrap()
-        .into_owned();
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "group1/zenoh-rs")]
+    /// The key expression of the liveliness token.
+    key: KeyExpr<'static>,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr)
+fn parse_args() -> (Config, KeyExpr<'static>) {
+    let args = Args::parse();
+    (args.common.into(), args.key)
 }
diff --git a/examples/examples/z_ping.rs b/examples/examples/z_ping.rs
index 173d270a8..fe5ed4d46 100644
--- a/examples/examples/z_ping.rs
+++ b/examples/examples/z_ping.rs
@@ -11,13 +11,12 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
-#[cfg(not(feature = "shared-memory"))]
-use std::process::exit;
+use clap::Parser;
 use std::time::{Duration, Instant};
 use zenoh::config::Config;
 use zenoh::prelude::sync::*;
 use zenoh::publication::CongestionControl;
+use zenoh_examples::CommonArgs;
 
 fn main() {
     // initiate logging
@@ -77,68 +76,26 @@ fn main() {
     }
 }
 
-fn parse_args() -> (Config, Duration, usize, usize) {
-    let args = App::new("zenoh roundtrip ping example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-n, --samples=[N]         'The number of round-trips to measure'")
-                .default_value("100"),
-        )
-        .arg(
-            Arg::from_usage("-w, --warmup=[N]          'The number of seconds to warm up'")
-                .default_value("1"),
-        )
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .arg(Arg::from_usage("--enable-shm 'Enable SHM transport.'"))
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "<PAYLOAD_SIZE>          'Sets the size of the payload to publish'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-    if args.is_present("enable-shm") {
-        #[cfg(feature = "shared-memory")]
-        config.transport.shared_memory.set_enabled(true).unwrap();
-        #[cfg(not(feature = "shared-memory"))]
-        {
-            println!("enable-shm argument: SHM cannot be enabled, because Zenoh is compiled without shared-memory feature!");
-            exit(-1);
-        }
-    }
-
-    let n: usize = args.value_of("samples").unwrap().parse().unwrap();
-    let w: f64 = args.value_of("warmup").unwrap().parse().unwrap();
-    let size: usize = args.value_of("PAYLOAD_SIZE").unwrap().parse().unwrap();
+#[derive(Parser)]
+struct Args {
+    #[arg(short, long, default_value = "1")]
+    /// The number of seconds to warm up (float)
+    warmup: f64,
+    #[arg(short = 'n', long, default_value = "100")]
+    /// The number of round-trips to measure
+    samples: usize,
+    /// Sets the size of the payload to publish
+    payload_size: usize,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, Duration::from_secs_f64(w), size, n)
+fn parse_args() -> (Config, Duration, usize, usize) {
+    let args = Args::parse();
+    (
+        args.common.into(),
+        Duration::from_secs_f64(args.warmup),
+        args.payload_size,
+        args.samples,
+    )
 }
diff --git a/examples/examples/z_pong.rs b/examples/examples/z_pong.rs
index d1c7bbb86..f05707543 100644
--- a/examples/examples/z_pong.rs
+++ b/examples/examples/z_pong.rs
@@ -13,12 +13,11 @@ use std::io::{stdin, Read};
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
-#[cfg(not(feature = "shared-memory"))]
-use std::process::exit;
+use clap::Parser;
 use zenoh::config::Config;
 use zenoh::prelude::sync::*;
 use zenoh::publication::CongestionControl;
+use zenoh_examples::CommonArgs;
 
 fn main() {
     // initiate logging
@@ -48,53 +47,13 @@ fn main() {
     for _ in stdin().bytes().take_while(|b| !matches!(b, Ok(b'q'))) {}
 }
 
-fn parse_args() -> Config {
-    let args = App::new("zenoh roundtrip pong example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .arg(Arg::from_usage("--enable-shm 'Enable SHM transport.'"))
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-    if args.is_present("enable-shm") {
-        #[cfg(feature = "shared-memory")]
-        config.transport.shared_memory.set_enabled(true).unwrap();
-        #[cfg(not(feature = "shared-memory"))]
-        {
-            println!("enable-shm argument: SHM cannot be enabled, because Zenoh is compiled without shared-memory feature!");
-            exit(-1);
-        }
-    }
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    config
+fn parse_args() -> Config {
+    let args = Args::parse();
+    args.common.into()
 }
diff --git a/examples/examples/z_pub.rs b/examples/examples/z_pub.rs
index 2632eeeda..54563df1d 100644
--- a/examples/examples/z_pub.rs
+++ b/examples/examples/z_pub.rs
@@ -12,10 +12,11 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 use async_std::task::sleep;
-use clap::{App, Arg};
+use clap::Parser;
 use std::time::Duration;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -38,54 +39,19 @@ async fn main() {
     }
 }
 
-fn parse_args() -> (Config, String, String) {
-    let args = App::new("zenoh pub example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR]        'The key expression to publish onto.'")
-                .default_value("demo/example/zenoh-rs-pub"),
-        )
-        .arg(
-            Arg::from_usage("-v, --value=[VALUE]      'The value to publish.'")
-                .default_value("Pub from Rust!"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = args.value_of("key").unwrap().to_string();
-    let value = args.value_of("value").unwrap().to_string();
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "demo/example/zenoh-rs-pub")]
+    /// The key expression to write to.
+    key: KeyExpr<'static>,
+    #[arg(short, long, default_value = "Put from Rust")]
+    /// The value to write.
+    value: String,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr, value)
+fn parse_args() -> (Config, KeyExpr<'static>, String) {
+    let args = Args::parse();
+    (args.common.into(), args.key, args.value)
 }
diff --git a/examples/examples/z_pub_shm.rs b/examples/examples/z_pub_shm.rs
index 335fc5dbe..fc329cadf 100644
--- a/examples/examples/z_pub_shm.rs
+++ b/examples/examples/z_pub_shm.rs
@@ -12,11 +12,12 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 use async_std::task::sleep;
-use clap::{App, Arg};
+use clap::Parser;
 use std::time::Duration;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
 use zenoh::shm::SharedMemoryManager;
+use zenoh_examples::CommonArgs;
 
 const N: usize = 10;
 const K: u32 = 3;
@@ -104,54 +105,19 @@ async fn main() -> Result<(), zenoh::Error> {
     Ok(())
 }
 
-fn parse_args() -> (Config, String, String) {
-    let args = App::new("zenoh shared-memory pub example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-p, --path=[PATH]        'The key expression to publish onto.'")
-                .default_value("demo/example/zenoh-rs-pub"),
-        )
-        .arg(
-            Arg::from_usage("-v, --value=[VALUE]      'The value of to publish.'")
-                .default_value("Pub from SharedMemory Rust!"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let path = args.value_of("path").unwrap();
-    let value = args.value_of("value").unwrap();
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "demo/example/zenoh-rs-pub")]
+    /// The key expression to publish onto.
+    path: KeyExpr<'static>,
+    #[arg(short, long, default_value = "Pub from SharedMemory Rust!")]
+    /// The value of to publish.
+    value: String,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, path.to_string(), value.to_string())
+fn parse_args() -> (Config, KeyExpr<'static>, String) {
+    let args = Args::parse();
+    (args.common.into(), args.path, args.value)
 }
diff --git a/examples/examples/z_pub_shm_thr.rs b/examples/examples/z_pub_shm_thr.rs
index f72a7b46b..9921c869e 100644
--- a/examples/examples/z_pub_shm_thr.rs
+++ b/examples/examples/z_pub_shm_thr.rs
@@ -11,11 +11,12 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::Parser;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
 use zenoh::publication::CongestionControl;
 use zenoh::shm::SharedMemoryManager;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -46,62 +47,20 @@ async fn main() {
     }
 }
 
-fn parse_args() -> (Config, usize, usize) {
-    let args = App::new("zenoh shared-memory throughput pub example")
-        .arg(
-            Arg::from_usage("-s, --shared-memory=[MB]  'shared memory size in MBytes'")
-                .default_value("32"),
-        )
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "<PAYLOAD_SIZE>           'Sets the size of the payload to publish'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-    let sm_size = args
-        .value_of("shared-memory")
-        .unwrap()
-        .parse::<usize>()
-        .unwrap()
-        * 1024
-        * 1024;
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "32")]
+    /// shared memory size in MBytes.
+    shared_memory: usize,
+    /// Sets the size of the payload to publish.
+    payload_size: usize,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    let size = args
-        .value_of("PAYLOAD_SIZE")
-        .unwrap()
-        .parse::<usize>()
-        .unwrap();
-    (config, sm_size, size)
+fn parse_args() -> (Config, usize, usize) {
+    let args = Args::parse();
+    let sm_size = args.shared_memory * 1024 * 1024;
+    let size = args.payload_size;
+    (args.common.into(), sm_size, size)
 }
diff --git a/examples/examples/z_pub_thr.rs b/examples/examples/z_pub_thr.rs
index b761128f3..433444b8d 100644
--- a/examples/examples/z_pub_thr.rs
+++ b/examples/examples/z_pub_thr.rs
@@ -11,13 +11,12 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::Parser;
 use std::convert::TryInto;
-#[cfg(not(feature = "shared-memory"))]
-use std::process::exit;
 use zenoh::config::Config;
 use zenoh::prelude::sync::*;
 use zenoh::publication::CongestionControl;
+use zenoh_examples::CommonArgs;
 
 fn main() {
     // initiate logging
@@ -56,80 +55,36 @@ fn main() {
     }
 }
 
-fn parse_args() -> (Config, usize, Priority, bool, usize) {
-    let args = App::new("zenoh throughput pub example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-p, --priority=[PRIO]...  'Priority for sending data.'",
-        ))
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage("-t, --print   'Print the statistics.'"))
-        .arg(
-            Arg::from_usage(
-                "-n, --number=[number] 'Number of messages in each throughput measurements.'",
-            )
-            .default_value("100000"),
-        )
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .arg(Arg::from_usage("--enable-shm 'Enable SHM transport.'"))
-        .arg(Arg::from_usage(
-            "<PAYLOAD_SIZE>          'Sets the size of the payload to publish'",
-        ))
-        .get_matches();
+#[derive(Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long)]
+    /// Priority for sending data
+    priority: Option<u8>,
+    #[arg(short = 't', long)]
+    /// Print the statistics
+    print: bool,
+    #[arg(short, long, default_value = "100000")]
+    /// Number of messages in each throughput measurements
+    number: usize,
+    /// Sets the size of the payload to publish
+    payload_size: usize,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
+fn parse_args() -> (Config, usize, Priority, bool, usize) {
+    let args = Args::parse();
 
     let mut prio = Priority::default();
-    if let Some(p) = args.value_of("priority") {
-        prio = p.parse::<u8>().unwrap().try_into().unwrap();
-    }
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
+    if let Some(p) = args.priority {
+        prio = p.try_into().unwrap();
     }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-    if args.is_present("enable-shm") {
-        #[cfg(feature = "shared-memory")]
-        config.transport.shared_memory.set_enabled(true).unwrap();
-        #[cfg(not(feature = "shared-memory"))]
-        {
-            println!("enable-shm argument: SHM cannot be enabled, because Zenoh is compiled without shared-memory feature!");
-            exit(-1);
-        }
-    }
-
-    let number: usize = args.value_of("number").unwrap().parse().unwrap();
-
-    let size = args
-        .value_of("PAYLOAD_SIZE")
-        .unwrap()
-        .parse::<usize>()
-        .unwrap();
 
-    (config, size, prio, args.is_present("print"), number)
+    (
+        args.common.into(),
+        args.payload_size,
+        prio,
+        args.print,
+        args.number,
+    )
 }
diff --git a/examples/examples/z_pull.rs b/examples/examples/z_pull.rs
index cd36fc57f..812c47294 100644
--- a/examples/examples/z_pull.rs
+++ b/examples/examples/z_pull.rs
@@ -13,11 +13,12 @@
 //
 use async_std::prelude::FutureExt;
 use async_std::task::sleep;
-use clap::{App, Arg};
+use clap::Parser;
 use futures::prelude::*;
 use std::time::Duration;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -70,49 +71,16 @@ async fn main() {
     subs.race(keyb).await;
 }
 
-fn parse_args() -> (Config, String) {
-    let args = App::new("zenoh pull example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR] 'The key expression matching resources to pull'")
-                .default_value("demo/example/**"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = args.value_of("key").unwrap().to_string();
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct SubArgs {
+    #[arg(short, long, default_value = "demo/example/**")]
+    /// The Key Expression to subscribe to.
+    key: KeyExpr<'static>,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr)
+fn parse_args() -> (Config, KeyExpr<'static>) {
+    let args = SubArgs::parse();
+    (args.common.into(), args.key)
 }
diff --git a/examples/examples/z_put.rs b/examples/examples/z_put.rs
index 2cc3d15bb..9b625be55 100644
--- a/examples/examples/z_put.rs
+++ b/examples/examples/z_put.rs
@@ -11,9 +11,10 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::Parser;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -29,54 +30,19 @@ async fn main() {
     session.put(&key_expr, value).res().await.unwrap();
 }
 
-fn parse_args() -> (Config, String, String) {
-    let args = App::new("zenoh put example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR]        'The key expression to write.'")
-                .default_value("demo/example/zenoh-rs-put"),
-        )
-        .arg(
-            Arg::from_usage("-v, --value=[VALUE]      'The value to write.'")
-                .default_value("Put from Rust!"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = args.value_of("key").unwrap().to_string();
-    let value = args.value_of("value").unwrap().to_string();
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "demo/example/zenoh-rs-put")]
+    /// The key expression to write to.
+    key: KeyExpr<'static>,
+    #[arg(short, long, default_value = "Put from Rust")]
+    /// The value to write.
+    value: String,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr, value)
+fn parse_args() -> (Config, KeyExpr<'static>, String) {
+    let args = Args::parse();
+    (args.common.into(), args.key, args.value)
 }
diff --git a/examples/examples/z_put_float.rs b/examples/examples/z_put_float.rs
index 439bb04c3..cc667df02 100644
--- a/examples/examples/z_put_float.rs
+++ b/examples/examples/z_put_float.rs
@@ -11,9 +11,10 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::Parser;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -31,59 +32,19 @@ async fn main() {
     session.close().res().await.unwrap();
 }
 
-//
-// Argument parsing -- look at the main for the zenoh-related code
-//
-fn parse_args() -> (Config, String, f64) {
-    let default_value = std::f64::consts::PI.to_string();
-
-    let args = App::new("zenoh put float example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR]        'The key expression to put.'")
-                .default_value("demo/example/zenoh-rs-put"),
-        )
-        .arg(
-            Arg::from_usage("-v, --value=[VALUE]      'The float value to put.'")
-                .default_value(&default_value),
-        )
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = args.value_of("key").unwrap().to_string();
-    let value: f64 = args.value_of("value").unwrap().parse().unwrap();
+#[derive(clap::Parser, Clone, PartialEq, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "demo/example/zenoh-rs-put")]
+    /// The key expression to write to.
+    key: KeyExpr<'static>,
+    #[arg(short, long, default_value_t = std::f64::consts::PI)]
+    /// The value to write.
+    value: f64,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr, value)
+fn parse_args() -> (Config, KeyExpr<'static>, f64) {
+    let args = Args::parse();
+    (args.common.into(), args.key, args.value)
 }
diff --git a/examples/examples/z_queryable.rs b/examples/examples/z_queryable.rs
index 751a794a3..5738c67f6 100644
--- a/examples/examples/z_queryable.rs
+++ b/examples/examples/z_queryable.rs
@@ -12,14 +12,14 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 use async_std::task::sleep;
-use clap::{App, Arg};
+use clap::Parser;
 use futures::prelude::*;
 use futures::select;
-use std::convert::TryFrom;
 use std::sync::atomic::Ordering::Relaxed;
 use std::time::Duration;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -29,7 +29,6 @@ async fn main() {
     let (config, key_expr, value, complete) = parse_args();
     let send_errors = std::sync::atomic::AtomicBool::new(false);
 
-    let key_expr = KeyExpr::try_from(key_expr).unwrap();
     println!("Opening session...");
     let session = zenoh::open(config).res().await.unwrap();
 
@@ -85,59 +84,22 @@ async fn main() {
     }
 }
 
-fn parse_args() -> (Config, String, String, bool) {
-    let args = App::new("zenoh queryable example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage(
-                "-k, --key=[KEYEXPR]        'The key expression matching queries to reply to.'",
-            )
-            .default_value("demo/example/zenoh-rs-queryable"),
-        )
-        .arg(
-            Arg::from_usage("-v, --value=[VALUE]      'The value to reply to queries.'")
-                .default_value("Queryable from Rust!"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .arg(Arg::from_usage(
-            "--complete 'Declare the queryable as complete w.r.t. the key expression.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-    let key_expr = args.value_of("key").unwrap().to_string();
-    let value = args.value_of("value").unwrap().to_string();
-    let complete = args.is_present("complete");
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "demo/example/zenoh-rs-queryable")]
+    /// The key expression matching queries to reply to.
+    key: KeyExpr<'static>,
+    #[arg(short, long, default_value = "Queryable from Rust")]
+    /// The value to reply to queries.
+    value: String,
+    #[arg(long)]
+    /// Declare the queryable as complete w.r.t. the key expression.
+    complete: bool,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr, value, complete)
+fn parse_args() -> (Config, KeyExpr<'static>, String, bool) {
+    let args = Args::parse();
+    (args.common.into(), args.key, args.value, args.complete)
 }
diff --git a/examples/examples/z_storage.rs b/examples/examples/z_storage.rs
index 1d5287c72..79164c914 100644
--- a/examples/examples/z_storage.rs
+++ b/examples/examples/z_storage.rs
@@ -14,13 +14,14 @@
 #![recursion_limit = "256"]
 
 use async_std::task::sleep;
-use clap::{App, Arg};
+use clap::Parser;
 use futures::prelude::*;
 use futures::select;
 use std::collections::HashMap;
 use std::time::Duration;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -82,53 +83,19 @@ async fn main() {
     }
 }
 
-fn parse_args() -> (Config, String, bool) {
-    let args = App::new("zenoh storage example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR] 'The selection of resources to store'")
-                .default_value("demo/example/**"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .arg(Arg::from_usage(
-            "--complete 'Declare the storage as complete w.r.t. the key expression.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = args.value_of("key").unwrap().to_string();
-    let complete = args.is_present("complete");
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "demo/example/**")]
+    /// The selection of resources to store.
+    key: KeyExpr<'static>,
+    #[arg(long)]
+    /// Declare the storage as complete w.r.t. the key expression.
+    complete: bool,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr, complete)
+fn parse_args() -> (Config, KeyExpr<'static>, bool) {
+    let args = Args::parse();
+    (args.common.into(), args.key, args.complete)
 }
diff --git a/examples/examples/z_sub.rs b/examples/examples/z_sub.rs
index af23760e9..0542f8587 100644
--- a/examples/examples/z_sub.rs
+++ b/examples/examples/z_sub.rs
@@ -12,13 +12,13 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 use async_std::task::sleep;
-use clap::{App, Arg};
+use clap::Parser;
 use futures::prelude::*;
 use futures::select;
-use std::convert::TryFrom;
 use std::time::Duration;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -61,51 +61,16 @@ async fn main() {
     }
 }
 
-fn parse_args() -> (Config, KeyExpr<'static>) {
-    let args = App::new("zenoh sub example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR] 'The key expression to subscribe to.'")
-                .default_value("demo/example/**"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = KeyExpr::try_from(args.value_of("key").unwrap())
-        .unwrap()
-        .into_owned();
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct SubArgs {
+    #[arg(short, long, default_value = "demo/example/**")]
+    /// The Key Expression to subscribe to.
+    key: KeyExpr<'static>,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr)
+fn parse_args() -> (Config, KeyExpr<'static>) {
+    let args = SubArgs::parse();
+    (args.common.into(), args.key)
 }
diff --git a/examples/examples/z_sub_liveliness.rs b/examples/examples/z_sub_liveliness.rs
index ebb4a8706..52ba53875 100644
--- a/examples/examples/z_sub_liveliness.rs
+++ b/examples/examples/z_sub_liveliness.rs
@@ -12,13 +12,13 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 use async_std::task::sleep;
-use clap::{App, Arg};
+use clap::Parser;
 use futures::prelude::*;
 use futures::select;
-use std::convert::TryFrom;
 use std::time::Duration;
 use zenoh::config::Config;
 use zenoh::prelude::r#async::*;
+use zenoh_examples::CommonArgs;
 
 #[async_std::main]
 async fn main() {
@@ -67,51 +67,16 @@ async fn main() {
     }
 }
 
-fn parse_args() -> (Config, KeyExpr<'static>) {
-    let args = App::new("zenoh liveliness sub example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR] 'The key expression mathing liveliness changes to subscribe to.'")
-                .default_value("group1/**"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-
-    let key_expr = KeyExpr::try_from(args.value_of("key").unwrap())
-        .unwrap()
-        .into_owned();
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "group1/**")]
+    /// The key expression to write to.
+    key: KeyExpr<'static>,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, key_expr)
+fn parse_args() -> (Config, KeyExpr<'static>) {
+    let args = Args::parse();
+    (args.common.into(), args.key)
 }
diff --git a/examples/examples/z_sub_thr.rs b/examples/examples/z_sub_thr.rs
index c6c1846f5..671e50f88 100644
--- a/examples/examples/z_sub_thr.rs
+++ b/examples/examples/z_sub_thr.rs
@@ -11,13 +11,12 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::Parser;
 use std::io::{stdin, Read};
-#[cfg(not(feature = "shared-memory"))]
-use std::process::exit;
 use std::time::Instant;
 use zenoh::config::Config;
 use zenoh::prelude::sync::*;
+use zenoh_examples::CommonArgs;
 
 struct Stats {
     round_count: usize,
@@ -101,66 +100,19 @@ fn main() {
     }
 }
 
-fn parse_args() -> (Config, usize, usize) {
-    let args = App::new("zenoh throughput sub example")
-        .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
-        )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(
-            Arg::from_usage("-s, --samples=[number] 'Number of throughput measurements.'")
-                .default_value("10"),
-        )
-        .arg(
-            Arg::from_usage(
-                "-n, --number=[number] 'Number of messages in each throughput measurements.'",
-            )
-            .default_value("100000"),
-        )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage("--enable-shm 'Enable SHM transport.'"))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
-        .get_matches();
-
-    let mut config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
-        config.set_mode(Some(mode)).unwrap();
-    }
-    if let Some(values) = args.values_of("connect") {
-        config.connect.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if let Some(values) = args.values_of("listen") {
-        config.listen.endpoints = values.map(|v| v.parse().unwrap()).collect();
-    }
-    if args.is_present("no-multicast-scouting") {
-        config.scouting.multicast.set_enabled(Some(false)).unwrap();
-    }
-    if args.is_present("enable-shm") {
-        #[cfg(feature = "shared-memory")]
-        config.transport.shared_memory.set_enabled(true).unwrap();
-        #[cfg(not(feature = "shared-memory"))]
-        {
-            println!("enable-shm argument: SHM cannot be enabled, because Zenoh is compiled without shared-memory feature!");
-            exit(-1);
-        }
-    }
-
-    let samples: usize = args.value_of("samples").unwrap().parse().unwrap();
-    let number: usize = args.value_of("number").unwrap().parse().unwrap();
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+struct Args {
+    #[arg(short, long, default_value = "10")]
+    /// Number of throughput measurements.
+    samples: usize,
+    #[arg(short, long, default_value = "100000")]
+    /// Number of messages in each throughput measurements.
+    number: usize,
+    #[command(flatten)]
+    common: CommonArgs,
+}
 
-    (config, samples, number)
+fn parse_args() -> (Config, usize, usize) {
+    let args = Args::parse();
+    (args.common.into(), args.samples, args.number)
 }
diff --git a/examples/src/lib.rs b/examples/src/lib.rs
index 8f5ad114a..e7c00cb60 100644
--- a/examples/src/lib.rs
+++ b/examples/src/lib.rs
@@ -1,3 +1,78 @@
 //! Examples on using Zenoh.
 //! See the code in ../examples/
 //! Check ../README.md for usage.
+//!
+use zenoh::config::Config;
+
+#[derive(clap::ValueEnum, Default, Clone, Copy, PartialEq, Eq, Hash, Debug)]
+pub enum Wai {
+    #[default]
+    Peer,
+    Client,
+    Router,
+}
+impl core::fmt::Display for Wai {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        core::fmt::Debug::fmt(&self, f)
+    }
+}
+#[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
+pub struct CommonArgs {
+    #[arg(short, long)]
+    /// A configuration file.
+    config: Option<String>,
+    #[arg(short, long, default_value_t)]
+    /// The Zenoh session mode.
+    mode: Wai,
+    #[arg(short = 'e', long)]
+    /// Endpoints to connect to.
+    connect: Vec<String>,
+    #[arg(short, long)]
+    /// Endpoints to listen on.
+    listen: Vec<String>,
+    #[arg(long)]
+    /// Disable the multicast-based scouting mechanism.
+    no_multicast_scouting: bool,
+    #[arg(long)]
+    /// Disable the multicast-based scouting mechanism.
+    enable_shm: bool,
+}
+
+impl From<CommonArgs> for Config {
+    fn from(value: CommonArgs) -> Self {
+        (&value).into()
+    }
+}
+impl From<&CommonArgs> for Config {
+    fn from(value: &CommonArgs) -> Self {
+        let mut config = match &value.config {
+            Some(path) => Config::from_file(path).unwrap(),
+            None => Config::default(),
+        };
+        match value.mode {
+            Wai::Peer => config.set_mode(Some(zenoh::scouting::WhatAmI::Peer)),
+            Wai::Client => config.set_mode(Some(zenoh::scouting::WhatAmI::Client)),
+            Wai::Router => config.set_mode(Some(zenoh::scouting::WhatAmI::Router)),
+        }
+        .unwrap();
+        if !value.connect.is_empty() {
+            config.connect.endpoints = value.connect.iter().map(|v| v.parse().unwrap()).collect();
+        }
+        if !value.listen.is_empty() {
+            config.listen.endpoints = value.listen.iter().map(|v| v.parse().unwrap()).collect();
+        }
+        if value.no_multicast_scouting {
+            config.scouting.multicast.set_enabled(Some(false)).unwrap();
+        }
+        if value.enable_shm {
+            #[cfg(feature = "shared-memory")]
+            config.transport.shared_memory.set_enabled(true).unwrap();
+            #[cfg(not(feature = "shared-memory"))]
+            {
+                println!("enable-shm argument: SHM cannot be enabled, because Zenoh is compiled without shared-memory feature!");
+                std::process::exit(-1);
+            }
+        }
+        config
+    }
+}
diff --git a/plugins/zenoh-plugin-rest/examples/z_serve_sse.rs b/plugins/zenoh-plugin-rest/examples/z_serve_sse.rs
index daf3f80d2..d196b52c5 100644
--- a/plugins/zenoh-plugin-rest/examples/z_serve_sse.rs
+++ b/plugins/zenoh-plugin-rest/examples/z_serve_sse.rs
@@ -11,7 +11,7 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::{arg, Command};
 use std::time::Duration;
 use zenoh::prelude::r#async::*;
 use zenoh::publication::CongestionControl;
@@ -85,50 +85,45 @@ async fn main() {
 }
 
 fn parse_args() -> Config {
-    let args = App::new("zenoh ssl server example")
+    let args = Command::new("zenoh ssl server example")
         .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
+            arg!(-m --mode [MODE] "The zenoh session mode (peer by default).")
+                .value_parser(["peer", "client"]),
+        )
+        .arg(arg!(-e --connect [ENDPOINT]...  "Endpoints to connect to."))
+        .arg(arg!(-l --listen [ENDPOINT]...  "Endpoints to listen on."))
+        .arg(arg!(-c --config [FILE] "A configuration file."))
+        .arg(
+            arg!(--no-multicast-scouting "Disable the multicast-based scouting mechanism."
+            ),
         )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
         .get_matches();
 
-    let mut config = if let Some(conf_file) = args.value_of("config") {
+    let mut config = if let Some(conf_file) = args.get_one::<&String>("config") {
         Config::from_file(conf_file).unwrap()
     } else {
         Config::default()
     };
-    match args.value_of("mode").map(|m| m.parse()) {
+    match args.get_one::<&String>("mode").map(|m| m.parse()) {
         Some(Ok(mode)) => {
             config.set_mode(Some(mode)).unwrap();
         }
         Some(Err(e)) => panic!("Invalid mode: {}", e),
         None => {}
     };
-    if let Some(values) = args.values_of("connect") {
+    if let Some(values) = args.get_many::<&String>("connect") {
         config
             .connect
             .endpoints
-            .extend(values.map(|v| v.parse().unwrap()))
+            .extend(values.into_iter().map(|v| v.parse().unwrap()))
     }
-    if let Some(values) = args.values_of("listen") {
+    if let Some(values) = args.get_many::<&String>("listen") {
         config
             .listen
             .endpoints
-            .extend(values.map(|v| v.parse().unwrap()))
+            .extend(values.into_iter().map(|v| v.parse().unwrap()))
     }
-    if args.is_present("no-multicast-scouting") {
+    if args.get_flag("no-multicast-scouting") {
         config.scouting.multicast.set_enabled(Some(false)).unwrap();
     }
 
diff --git a/zenoh-ext/Cargo.toml b/zenoh-ext/Cargo.toml
index 84c6baf83..91b0283dd 100644
--- a/zenoh-ext/Cargo.toml
+++ b/zenoh-ext/Cargo.toml
@@ -46,7 +46,7 @@ zenoh-sync = { workspace = true }
 zenoh-util = { workspace = true }
 
 [dev-dependencies]
-clap = { workspace = true }
+clap = { workspace = true, features = ["derive"] }
 
 [[example]]
 name = "z_query_sub"
diff --git a/zenoh-ext/examples/z_pub_cache.rs b/zenoh-ext/examples/z_pub_cache.rs
index 67879087a..516cb3bd8 100644
--- a/zenoh-ext/examples/z_pub_cache.rs
+++ b/zenoh-ext/examples/z_pub_cache.rs
@@ -12,7 +12,7 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 use async_std::task::sleep;
-use clap::{App, Arg};
+use clap::{arg, Command};
 use std::time::Duration;
 use zenoh::config::{Config, ModeDependentValue};
 use zenoh::prelude::r#async::*;
@@ -46,61 +46,48 @@ async fn main() {
 }
 
 fn parse_args() -> (Config, String, String, usize, Option<String>) {
-    let args = App::new("zenoh-ext pub cache example")
+    let args = Command::new("zenoh-ext pub cache example")
         .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
+            arg!(-m --mode [MODE] "The zenoh session mode (peer by default)")
+                .value_parser(["peer", "client"]),
         )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
+        .arg(arg!(-e --connect [ENDPOINT]...  "Endpoints to connect to."))
+        .arg(arg!(-l --listen [ENDPOINT]...   "Endpoints to listen on."))
         .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR]        'The key expression to publish.'")
+            arg!(-k --key [KEYEXPR]        "The key expression to publish.")
                 .default_value("demo/example/zenoh-rs-pub"),
         )
+        .arg(arg!(-v --value [VALUE]      "The value to publish.").default_value("Pub from Rust!"))
         .arg(
-            Arg::from_usage("-v, --value=[VALUE]      'The value to publish.'")
-                .default_value("Pub from Rust!"),
-        )
-        .arg(
-            Arg::from_usage("-h, --history=[SIZE] 'The number of publications to keep in cache'")
+            arg!(-h --history [SIZE] "The number of publications to keep in cache")
                 .default_value("1"),
         )
-        .arg(Arg::from_usage(
-            "-x, --prefix=[STRING] 'An optional queryable prefix'",
-        ))
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
+        .arg(arg!(-x --prefix [STRING] "An optional queryable prefix"))
+        .arg(arg!(-c --config [FILE]      "A configuration file."))
+        .arg(arg!(--no-multicast-scouting "Disable the multicast-based scouting mechanism."))
         .get_matches();
 
-    let mut config = if let Some(conf_file) = args.value_of("config") {
+    let mut config = if let Some(conf_file) = args.get_one::<&String>("config") {
         Config::from_file(conf_file).unwrap()
     } else {
         Config::default()
     };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
+    if let Some(Ok(mode)) = args.get_one::<&String>("mode").map(|mode| mode.parse()) {
         config.set_mode(Some(mode)).unwrap();
     }
-    if let Some(values) = args.values_of("connect") {
+    if let Some(values) = args.get_many::<&String>("connect") {
         config
             .connect
             .endpoints
             .extend(values.map(|v| v.parse().unwrap()))
     }
-    if let Some(values) = args.values_of("listen") {
+    if let Some(values) = args.get_many::<&String>("listen") {
         config
             .listen
             .endpoints
             .extend(values.map(|v| v.parse().unwrap()))
     }
-    if args.is_present("no-multicast-scouting") {
+    if args.get_flag("no-multicast-scouting") {
         config.scouting.multicast.set_enabled(Some(false)).unwrap();
     }
 
@@ -110,10 +97,10 @@ fn parse_args() -> (Config, String, String, usize, Option<String>) {
         .set_enabled(Some(ModeDependentValue::Unique(true)))
         .unwrap();
 
-    let key_expr = args.value_of("key").unwrap().to_string();
-    let value = args.value_of("value").unwrap().to_string();
-    let history: usize = args.value_of("history").unwrap().parse().unwrap();
-    let prefix = args.value_of("prefix").map(String::from);
+    let key_expr = args.get_one::<&String>("key").unwrap().to_string();
+    let value = args.get_one::<&String>("value").unwrap().to_string();
+    let history: usize = args.get_one::<&String>("history").unwrap().parse().unwrap();
+    let prefix = args.get_one::<&String>("prefix").map(|s| (*s).to_owned());
 
     (config, key_expr, value, history, prefix)
 }
diff --git a/zenoh-ext/examples/z_query_sub.rs b/zenoh-ext/examples/z_query_sub.rs
index 6c53ebd03..4d308bca5 100644
--- a/zenoh-ext/examples/z_query_sub.rs
+++ b/zenoh-ext/examples/z_query_sub.rs
@@ -12,7 +12,8 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 use async_std::task::sleep;
-use clap::{App, Arg};
+use clap::arg;
+use clap::Command;
 use futures::prelude::*;
 use futures::select;
 use std::time::Duration;
@@ -77,58 +78,50 @@ async fn main() {
 }
 
 fn parse_args() -> (Config, String, Option<String>) {
-    let args = App::new("zenoh-ext query sub example")
+    let args = Command::new("zenoh-ext query sub example")
         .arg(
-            Arg::from_usage("-m, --mode=[MODE]  'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
+            arg!(-m --mode [MODE]  "The zenoh session mode (peer by default).")
+                .value_parser(["peer", "client"]),
         )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...   'Endpoints to connect to.'",
-        ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
-        ))
+        .arg(arg!(-e --connect [ENDPOINT]...   "Endpoints to connect to."))
+        .arg(arg!(-l --listen [ENDPOINT]...   "Endpoints to listen on."))
         .arg(
-            Arg::from_usage("-k, --key=[KEYEXPR] 'The key expression to subscribe onto'")
+            arg!(-k  --key [KEYEXPR] "The key expression to subscribe onto")
                 .default_value("demo/example/**"),
         )
         .arg(
-            Arg::from_usage("-q, --query=[SELECTOR] 'The selector to use for queries (by default it's same than 'selector' option)'"),
+            arg!(-q --query [SELECTOR] "The selector to use for queries (by default it's same than 'selector' option)")
         )
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .arg(Arg::from_usage(
-            "--no-multicast-scouting 'Disable the multicast-based scouting mechanism.'",
-        ))
+        .arg(arg!(-c --config [FILE]      "A configuration file."))
+        .arg(arg!(--no-multicast-scouting "Disable the multicast-based scouting mechanism."))
         .get_matches();
 
-    let mut config = if let Some(conf_file) = args.value_of("config") {
+    let mut config = if let Some(conf_file) = args.get_one::<&String>("config") {
         Config::from_file(conf_file).unwrap()
     } else {
         Config::default()
     };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
+    if let Some(Ok(mode)) = args.get_one::<&String>("mode").map(|mode| mode.parse()) {
         config.set_mode(Some(mode)).unwrap();
     }
-    if let Some(values) = args.values_of("connect") {
+    if let Some(values) = args.get_many::<&String>("connect") {
         config
             .connect
             .endpoints
             .extend(values.map(|v| v.parse().unwrap()))
     }
-    if let Some(values) = args.values_of("listen") {
+    if let Some(values) = args.get_many::<&String>("listen") {
         config
             .listen
             .endpoints
             .extend(values.map(|v| v.parse().unwrap()))
     }
-    if args.is_present("no-multicast-scouting") {
+    if args.get_flag("no-multicast-scouting") {
         config.scouting.multicast.set_enabled(Some(false)).unwrap();
     }
 
-    let key_expr = args.value_of("key").unwrap().to_string();
-    let query = args.value_of("query").map(ToString::to_string);
+    let key_expr = args.get_one::<&String>("key").unwrap().to_string();
+    let query = args.get_one::<&String>("query").map(ToString::to_string);
 
     (config, key_expr, query)
 }
diff --git a/zenoh-ext/examples/z_view_size.rs b/zenoh-ext/examples/z_view_size.rs
index 7f9c1d179..575604885 100644
--- a/zenoh-ext/examples/z_view_size.rs
+++ b/zenoh-ext/examples/z_view_size.rs
@@ -11,7 +11,7 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use clap::{App, Arg};
+use clap::{arg, Command};
 use std::sync::Arc;
 use std::time::Duration;
 use zenoh::config::Config;
@@ -50,59 +50,59 @@ async fn main() {
 }
 
 fn parse_args() -> (Config, String, Option<String>, usize, u64) {
-    let args = App::new("zenoh-ext group view size example")
+    let args = Command::new("zenoh-ext group view size example")
         .arg(
-            Arg::from_usage("-m, --mode=[MODE] 'The zenoh session mode (peer by default).")
-                .possible_values(["peer", "client"]),
+            arg!(-m --mode [MODE] "The zenoh session mode (peer by default).")
+                .value_parser(["peer", "client"]),
         )
-        .arg(Arg::from_usage(
-            "-e, --connect=[ENDPOINT]...  'Endpoints to connect to.'",
+        .arg(arg!(
+            -e --connect [ENDPOINT]...  "Endpoints to connect to."
         ))
-        .arg(Arg::from_usage(
-            "-l, --listen=[ENDPOINT]...   'Endpoints to listen on.'",
+        .arg(arg!(
+            -l --listen [ENDPOINT]...   "Endpoints to listen on."
         ))
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
+        .arg(arg!(
+            -c --config [FILE]      "A configuration file."
         ))
-        .arg(Arg::from_usage(
-            "-g, --group=[STRING] 'The group name'",
+        .arg(arg!(
+            -g --group [STRING] "The group name"
         ).default_value("zgroup"))
-        .arg(Arg::from_usage(
-            "-i, --id=[STRING] 'The group member id (default is the zenoh ID)'",
+        .arg(arg!(
+            -i --id [STRING] "The group member id (default is the zenoh ID)"
         ))
-        .arg(Arg::from_usage(
-            "-s, --size=[INT] 'The expected group size. The example will wait for the group to reach this size'",
+        .arg(arg!(
+            -s --size [INT] "The expected group size. The example will wait for the group to reach this size"
         ).default_value("3"))
-        .arg(Arg::from_usage(
-            "-t, --timeout=[SEC] 'The duration (in seconds) this example will wait for the group to reach the expected size.'",
+        .arg(arg!(
+            -t --timeout [SEC] "The duration (in seconds) this example will wait for the group to reach the expected size."
         ).default_value("15"))
         .get_matches();
 
-    let mut config = if let Some(conf_file) = args.value_of("config") {
+    let mut config = if let Some(conf_file) = args.get_one::<&String>("config") {
         Config::from_file(conf_file).unwrap()
     } else {
         Config::default()
     };
-    if let Some(Ok(mode)) = args.value_of("mode").map(|mode| mode.parse()) {
+    if let Some(Ok(mode)) = args.get_one::<&String>("mode").map(|mode| mode.parse()) {
         config.set_mode(Some(mode)).unwrap();
     }
-    if let Some(values) = args.values_of("connect") {
+    if let Some(values) = args.get_many::<&String>("connect") {
         config
             .connect
             .endpoints
             .extend(values.map(|v| v.parse().unwrap()))
     }
-    if let Some(values) = args.values_of("listen") {
+    if let Some(values) = args.get_many::<&String>("listen") {
         config
             .listen
             .endpoints
             .extend(values.map(|v| v.parse().unwrap()))
     }
 
-    let group = args.value_of("group").unwrap().to_string();
-    let id = args.value_of("id").map(String::from);
-    let size: usize = args.value_of("size").unwrap().parse().unwrap();
-    let timeout: u64 = args.value_of("timeout").unwrap().parse().unwrap();
+    let group = args.get_one::<&String>("group").unwrap().to_string();
+    let id = args.get_one::<&String>("id").map(|v| (*v).to_owned());
+    let size: usize = args.get_one::<&String>("size").unwrap().parse().unwrap();
+    let timeout: u64 = args.get_one::<&String>("timeout").unwrap().parse().unwrap();
 
     (config, group, id, size, timeout)
 }
diff --git a/zenoh/src/selector.rs b/zenoh/src/selector.rs
index 025645612..2a9a38c02 100644
--- a/zenoh/src/selector.rs
+++ b/zenoh/src/selector.rs
@@ -25,6 +25,7 @@ use std::{
     collections::HashMap,
     convert::TryFrom,
     hash::Hash,
+    str::FromStr,
 };
 
 /// A selector is the combination of a [Key Expression](crate::prelude::KeyExpr), which defines the
@@ -483,6 +484,12 @@ impl<'a> TryFrom<&'a str> for Selector<'a> {
         }
     }
 }
+impl FromStr for Selector<'static> {
+    type Err = zenoh_result::Error;
+    fn from_str(s: &str) -> Result<Self, Self::Err> {
+        s.to_owned().try_into()
+    }
+}
 
 impl<'a> TryFrom<&'a String> for Selector<'a> {
     type Error = zenoh_result::Error;
diff --git a/zenohd/Cargo.toml b/zenohd/Cargo.toml
index 754198dc7..e3177a565 100644
--- a/zenohd/Cargo.toml
+++ b/zenohd/Cargo.toml
@@ -31,7 +31,7 @@ shared-memory = ["zenoh/shared-memory"]
 
 [dependencies]
 async-std = { workspace = true, features = ["attributes"] }
-clap = { workspace = true }
+clap = { workspace = true, features = ["derive"] }
 env_logger = { workspace = true }
 futures = { workspace = true }
 git-version = { workspace = true }
diff --git a/zenohd/src/main.rs b/zenohd/src/main.rs
index 56c56bc53..c864c303b 100644
--- a/zenohd/src/main.rs
+++ b/zenohd/src/main.rs
@@ -12,7 +12,7 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 use async_std::task;
-use clap::{ArgMatches, Command};
+use clap::Parser;
 use futures::future;
 use git_version::git_version;
 use std::collections::HashSet;
@@ -29,6 +29,56 @@ lazy_static::lazy_static!(
 
 const DEFAULT_LISTENER: &str = "tcp/[::]:7447";
 
+#[derive(Debug, Parser)]
+#[command(version=GIT_VERSION, long_version=LONG_VERSION.as_str(), about="The zenoh router")]
+struct Args {
+    /// The configuration file. Currently, this file must be a valid JSON5 or YAML file.
+    #[arg(short, long, value_name = "PATH")]
+    config: Option<String>,
+    /// Locators on which this router will listen for incoming sessions. Repeat this option to open several listeners.
+    #[arg(short, long, value_name = "ENDPOINT")]
+    listen: Vec<String>,
+    /// A peer locator this router will try to connect to.
+    /// Repeat this option to connect to several peers.
+    #[arg(short = 'e', long, value_name = "ENDPOINT")]
+    connect: Vec<String>,
+    /// The identifier (as an hexadecimal string, with odd number of chars - e.g.: A0B23...) that zenohd must use. If not set, a random unsigned 128bit integer will be used.
+    /// WARNING: this identifier must be unique in the system and must be 16 bytes maximum (32 chars)!
+    #[arg(short, long)]
+    id: Option<String>,
+    /// A plugin that MUST be loaded. You can give just the name of the plugin, zenohd will search for a library named 'libzenoh_plugin_<name>.so' (exact name depending the OS). Or you can give such a string: "<plugin_name>:<library_path>
+    /// Repeat this option to load several plugins. If loading failed, zenohd will exit.
+    #[arg(short = 'P', long)]
+    plugin: Vec<String>,
+    /// Directory where to search for plugins libraries to load.
+    /// Repeat this option to specify several search directories.
+    #[arg(long, value_name = "PATH")]
+    plugin_search_dir: Vec<String>,
+    /// By default zenohd adds a HLC-generated Timestamp to each routed Data if there isn't already one. This option disables this feature.
+    #[arg(long)]
+    no_timestamp: bool,
+    /// By default zenohd replies to multicast scouting messages for being discovered by peers and clients. This option disables this feature.
+    #[arg(long)]
+    no_multicast_scouting: bool,
+    /// Configures HTTP interface for the REST API (enabled by default on port 8000). Accepted values:
+    ///   - a port number
+    ///   - a string with format `<local_ip>:<port_number>` (to bind the HTTP server to a specific interface)
+    ///   - `none` to disable the REST API
+    #[arg(long, value_name = "SOCKET")]
+    rest_http_port: Option<String>,
+    /// Allows arbitrary configuration changes as column-separated KEY:VALUE pairs, where:
+    ///   - KEY must be a valid config path.
+    ///   - VALUE must be a valid JSON5 string that can be deserialized to the expected type for the KEY field.
+    /// Examples:
+    /// --cfg='startup/subscribe:["demo/**"]'
+    /// --cfg='plugins/storage_manager/storages/demo:{key_expr:"demo/example/**",volume:"memory"}'
+    #[arg(long)]
+    cfg: Vec<String>,
+    /// Configure the read and/or write permissions on the admin space. Default is read only.
+    #[arg(long, default_value = "r", value_name = "[r|w|rw|none]")]
+    adminspace_permissions: String,
+}
+
 fn main() {
     task::block_on(async {
         let mut log_builder =
@@ -40,39 +90,7 @@ fn main() {
 
         log::info!("zenohd {}", *LONG_VERSION);
 
-        let app = Command::new("The zenoh router")
-            .version(GIT_VERSION)
-            .long_version(LONG_VERSION.as_str()).args(
-                &[
-clap::arg!(-c --config [FILE] "The configuration file. Currently, this file must be a valid JSON5 or YAML file."),
-clap::Arg::new("listen").short('l').long("listen").value_name("ENDPOINT").help(r"A locator on which this router will listen for incoming sessions.
-Repeat this option to open several listeners.").takes_value(true).multiple_occurrences(true),
-clap::Arg::new("connect").short('e').long("connect").value_name("ENDPOINT").help(r"A peer locator this router will try to connect to.
-Repeat this option to connect to several peers.").takes_value(true).multiple_occurrences(true),
-clap::Arg::new("id").short('i').long("id").value_name("HEX_STRING").help(r"The identifier (as an hexadecimal string, with odd number of chars - e.g.: A0B23...) that zenohd must use. If not set, a random unsigned 128bit integer will be used.
-WARNING: this identifier must be unique in the system and must be 16 bytes maximum (32 chars)!").multiple_values(false).multiple_occurrences(false),
-clap::Arg::new("plugin").short('P').long("plugin").value_name("PLUGIN").takes_value(true).multiple_occurrences(true).help(r#"A plugin that MUST be loaded. You can give just the name of the plugin, zenohd will search for a library named 'libzenoh_plugin_<name>.so' (exact name depending the OS). Or you can give such a string: "<plugin_name>:<library_path>".
-Repeat this option to load several plugins. If loading failed, zenohd will exit."#),
-clap::Arg::new("plugin-search-dir").long("plugin-search-dir").takes_value(true).multiple_occurrences(true).value_name("DIRECTORY").help(r"A directory where to search for plugins libraries to load.
-Repeat this option to specify several search directories."),
-clap::arg!(--"no-timestamp" r"By default zenohd adds a HLC-generated Timestamp to each routed Data if there isn't already one. This option disables this feature."),
-clap::arg!(--"no-multicast-scouting" r"By default zenohd replies to multicast scouting messages for being discovered by peers and clients. This option disables this feature."),
-clap::arg!(--"rest-http-port" [SOCKET] r"Configures HTTP interface for the REST API (enabled by default). Accepted values:
-  - a port number
-  - a string with format `<local_ip>:<port_number>` (to bind the HTTP server to a specific interface)
-  - `none` to disable the REST API
-").default_value("8000").multiple_values(false).multiple_occurrences(false),
-clap::Arg::new("cfg").long("cfg").takes_value(true).multiple_occurrences(true).value_name("KEY:VALUE").help(
-r#"Allows arbitrary configuration changes as column-separated KEY:VALUE pairs, where:
-  - KEY must be a valid config path.
-  - VALUE must be a valid JSON5 string that can be deserialized to the expected type for the KEY field.
-Examples:
---cfg='startup/subscribe:["demo/**"]'
---cfg='plugins/storage_manager/storages/demo:{key_expr:"demo/example/**",volume:"memory"}'"#),
-clap::Arg::new("adminspace-permissions").long("adminspace-permissions").value_name("[r|w|rw|none]").help(r"Configure the read and/or write permissions on the admin space. Default is read only."),
-                ]
-            );
-        let args = app.get_matches();
+        let args = Args::parse();
         let config = config_from_args(&args);
         log::info!("Initial conf: {}", &config);
 
@@ -150,9 +168,10 @@ clap::Arg::new("adminspace-permissions").long("adminspace-permissions").value_na
     });
 }
 
-fn config_from_args(args: &ArgMatches) -> Config {
+fn config_from_args(args: &Args) -> Config {
     let mut config = args
-        .value_of("config")
+        .config
+        .as_ref()
         .map_or_else(Config::default, |conf_file| {
             Config::from_file(conf_file).unwrap()
         });
@@ -160,15 +179,13 @@ fn config_from_args(args: &ArgMatches) -> Config {
     if config.mode().is_none() {
         config.set_mode(Some(WhatAmI::Router)).unwrap();
     }
-    if args.occurrences_of("id") > 0 {
-        config
-            .set_id(args.value_of("id").unwrap().parse().unwrap())
-            .unwrap();
+    if let Some(id) = &args.id {
+        config.set_id(id.parse().unwrap()).unwrap();
     }
     // apply '--rest-http-port' to config only if explicitly set (overwritting config),
     // or if no config file is set (to apply its default value)
-    if args.occurrences_of("rest-http-port") > 0 || args.occurrences_of("config") == 0 {
-        let value = args.value_of("rest-http-port").unwrap();
+    if args.rest_http_port.is_some() || args.config.is_none() {
+        let value = args.rest_http_port.as_deref().unwrap_or("8000");
         if !value.eq_ignore_ascii_case("none") {
             config
                 .insert_json5("plugins/rest/http_port", &format!(r#""{value}""#))
@@ -178,33 +195,32 @@ fn config_from_args(args: &ArgMatches) -> Config {
                 .unwrap();
         }
     }
-    if let Some(plugins_search_dirs) = args.values_of("plugin-search-dir") {
+    if !args.plugin_search_dir.is_empty() {
         config
-            .set_plugins_search_dirs(plugins_search_dirs.map(|c| c.to_owned()).collect())
+            .set_plugins_search_dirs(args.plugin_search_dir.clone())
             .unwrap();
     }
-    if let Some(plugins) = args.values_of("plugin") {
-        for plugin in plugins {
-            match plugin.split_once(':') {
-                Some((name, path)) => {
-                    config
-                        .insert_json5(&format!("plugins/{name}/__required__"), "true")
-                        .unwrap();
-                    config
-                        .insert_json5(&format!("plugins/{name}/__path__"), &format!("\"{path}\""))
-                        .unwrap();
-                }
-                None => config
-                    .insert_json5(&format!("plugins/{plugin}/__required__"), "true")
-                    .unwrap(),
+    for plugin in &args.plugin {
+        match plugin.split_once(':') {
+            Some((name, path)) => {
+                config
+                    .insert_json5(&format!("plugins/{name}/__required__"), "true")
+                    .unwrap();
+                config
+                    .insert_json5(&format!("plugins/{name}/__path__"), &format!("\"{path}\""))
+                    .unwrap();
             }
+            None => config
+                .insert_json5(&format!("plugins/{plugin}/__required__"), "true")
+                .unwrap(),
         }
     }
-    if let Some(peers) = args.values_of("connect") {
+    if !args.connect.is_empty() {
         config
             .connect
             .set_endpoints(
-                peers
+                args.connect
+                    .iter()
                     .map(|v| match v.parse::<EndPoint>() {
                         Ok(v) => v,
                         Err(e) => {
@@ -215,11 +231,12 @@ fn config_from_args(args: &ArgMatches) -> Config {
             )
             .unwrap();
     }
-    if let Some(listeners) = args.values_of("listen") {
+    if !args.listen.is_empty() {
         config
             .listen
             .set_endpoints(
-                listeners
+                args.listen
+                    .iter()
                     .map(|v| match v.parse::<EndPoint>() {
                         Ok(v) => v,
                         Err(e) => {
@@ -236,7 +253,7 @@ fn config_from_args(args: &ArgMatches) -> Config {
             .endpoints
             .push(DEFAULT_LISTENER.parse().unwrap())
     }
-    if args.is_present("no-timestamp") {
+    if args.no_timestamp {
         config
             .timestamping
             .set_enabled(Some(ModeDependentValue::Unique(false)))
@@ -244,7 +261,7 @@ fn config_from_args(args: &ArgMatches) -> Config {
     };
     match (
         config.scouting.multicast.enabled().is_none(),
-        args.is_present("no-multicast-scouting"),
+        args.no_multicast_scouting,
     ) {
         (_, true) => {
             config.scouting.multicast.set_enabled(Some(false)).unwrap();
@@ -254,43 +271,41 @@ fn config_from_args(args: &ArgMatches) -> Config {
         }
         (false, false) => {}
     };
-    if let Some(permissions) = args.value_of("adminspace-permissions") {
-        match permissions {
-            "r" => config
-                .adminspace
-                .set_permissions(PermissionsConf {
-                    read: true,
-                    write: false,
-                })
-                .unwrap(),
-            "w" => config
-                .adminspace
-                .set_permissions(PermissionsConf {
-                    read: false,
-                    write: true,
-                })
-                .unwrap(),
-            "rw" => config
-                .adminspace
-                .set_permissions(PermissionsConf {
-                    read: true,
-                    write: true,
-                })
-                .unwrap(),
-            "none" => config
-                .adminspace
-                .set_permissions(PermissionsConf {
-                    read: false,
-                    write: false,
-                })
-                .unwrap(),
-            s => panic!(
-                r#"Invalid option: --adminspace-permissions={} - Accepted values: "r", "w", "rw" or "none""#,
-                s
-            ),
-        };
+    match args.adminspace_permissions.as_str() {
+        "r" => config
+            .adminspace
+            .set_permissions(PermissionsConf {
+                read: true,
+                write: false,
+            })
+            .unwrap(),
+        "w" => config
+            .adminspace
+            .set_permissions(PermissionsConf {
+                read: false,
+                write: true,
+            })
+            .unwrap(),
+        "rw" => config
+            .adminspace
+            .set_permissions(PermissionsConf {
+                read: true,
+                write: true,
+            })
+            .unwrap(),
+        "none" => config
+            .adminspace
+            .set_permissions(PermissionsConf {
+                read: false,
+                write: false,
+            })
+            .unwrap(),
+        s => panic!(
+            r#"Invalid option: --adminspace-permissions={} - Accepted values: "r", "w", "rw" or "none""#,
+            s
+        ),
     };
-    for json in args.values_of("cfg").unwrap_or_default() {
+    for json in &args.cfg {
         if let Some((key, value)) = json.split_once(':') {
             match json5::Deserializer::from_str(value) {
                 Ok(mut deserializer) => {