diff --git a/README.md b/README.md
index daf66ac7..bc6ef674 100644
--- a/README.md
+++ b/README.md
@@ -30,6 +30,7 @@ All message definitions and conversion functions are automatically generated bas
 - [Packages](#packages)
 - [Installation](#installation)
 - [Conversion Node](#conversion-node)
+- [Sample Messages](#sample-messages)
 - [Access Functions](#access-functions)
 - [Code Generation](#code-generation)
 - [V2AIX Dataset / Citation](#v2aix-dataset--citation)
@@ -192,6 +193,36 @@ rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[ca
 | `check_constraints_before_encoding` | `bool` | whether an asn constraint check should be performed before encoding using asn1c's `asn_check_constraints` function (setting to `true` could lead to segmentation faults because of infinite recursion; [known asn1c issue](https://github.com/vlm/asn1c/issues/410)) |
 
 
+## Sample Messages
+
+The `etsi_its_msgs_utils` package contains simple ROS 2 nodes for publishing sample ROS 2 messages of the supported ETSI ITS message types, see [`./etsi_its_msgs_utils/samples/`](./etsi_its_msgs_utils/samples/). For example, publish a sample CPM by running the following.
+
+```bash
+# ROS 2 only
+ros2 run etsi_its_msgs_utils publish_cpm_ts.py
+```
+
+You can then visualize the CPM in RViz with the provided demo configuration.
+
+```bash
+# ROS 2 only
+ros2 launch etsi_its_rviz_plugins demo.launch.py
+```
+
+And finally, run the [Conversion Node](#conversion-node) to convert ROS 2 messages to binary payloads.
+
+```bash
+# ROS 2 only
+ros2 run etsi_its_conversion etsi_its_conversion_node \
+    --ros-args \
+        -r __node:=etsi_its_conversion \
+        -r /etsi_its_conversion/udp/out:=/etsi_its_conversion/udp/in \
+        -p has_btp_destination_port:=true \
+        -p btp_destination_port_offset:=0 \
+        -p etsi_message_payload_offset:=4
+```
+
+
 ## Access Functions
 
 The `etsi_its_msgs_utils` package contains header-only libraries providing helpful access functions for modifying the deeply nested ROS messages equivalents of the ETSI ITS messages. All access functions are [documented here](https://ika-rwth-aachen.github.io/etsi_its_messages/).
diff --git a/etsi_its_msgs_utils/CMakeLists.txt b/etsi_its_msgs_utils/CMakeLists.txt
index 9e377f8b..a664c879 100644
--- a/etsi_its_msgs_utils/CMakeLists.txt
+++ b/etsi_its_msgs_utils/CMakeLists.txt
@@ -36,6 +36,17 @@ if(${ROS_VERSION} EQUAL 2)
     DESTINATION include/${PROJECT_NAME}
   )
 
+  # install all sample python scripts
+  file(GLOB SAMPLE_SCRIPTS "samples/publish_*.py")
+  install(
+    FILES "samples/utils.py"
+    DESTINATION lib/${PROJECT_NAME}
+  )
+  install(
+    PROGRAMS ${SAMPLE_SCRIPTS}
+    DESTINATION lib/${PROJECT_NAME}
+  )
+
   install(TARGETS ${PROJECT_NAME}
     EXPORT ${PROJECT_NAME}Targets
     ARCHIVE DESTINATION lib
diff --git a/utils/scripts/publish_cam.py b/etsi_its_msgs_utils/samples/publish_cam.py
similarity index 100%
rename from utils/scripts/publish_cam.py
rename to etsi_its_msgs_utils/samples/publish_cam.py
diff --git a/utils/scripts/publish_cam_ts.py b/etsi_its_msgs_utils/samples/publish_cam_ts.py
similarity index 100%
rename from utils/scripts/publish_cam_ts.py
rename to etsi_its_msgs_utils/samples/publish_cam_ts.py
diff --git a/utils/scripts/publish_cpm_ts.py b/etsi_its_msgs_utils/samples/publish_cpm_ts.py
similarity index 91%
rename from utils/scripts/publish_cpm_ts.py
rename to etsi_its_msgs_utils/samples/publish_cpm_ts.py
index 3ada73a7..dd770bdc 100755
--- a/utils/scripts/publish_cpm_ts.py
+++ b/etsi_its_msgs_utils/samples/publish_cpm_ts.py
@@ -67,10 +67,13 @@ def publish(self):
             perceived_object.position.y_coordinate.confidence.value = perceived_object.position.y_coordinate.confidence.UNAVAILABLE
             perceived_object.object_dimension_x_is_present = True
             perceived_object.object_dimension_x.value.value = int(3.5 * 1e1)
+            perceived_object.object_dimension_x.confidence.value = perceived_object.object_dimension_x.confidence.UNAVAILABLE
             perceived_object.object_dimension_y_is_present = True
             perceived_object.object_dimension_y.value.value = int(1.8 * 1e1)
+            perceived_object.object_dimension_y.confidence.value = perceived_object.object_dimension_y.confidence.UNAVAILABLE
             perceived_object.object_dimension_z_is_present = True
             perceived_object.object_dimension_z.value.value = int(1.6 * 1e1)
+            perceived_object.object_dimension_z.confidence.value = perceived_object.object_dimension_z.confidence.UNAVAILABLE
             perceived_object_container.perceived_objects.array.append(perceived_object)
 
         cpm_container.container_data.perceived_object_container = perceived_object_container
diff --git a/utils/scripts/publish_cpm_ts_multi_wrapped_container.py b/etsi_its_msgs_utils/samples/publish_cpm_ts_multi_wrapped_container.py
similarity index 99%
rename from utils/scripts/publish_cpm_ts_multi_wrapped_container.py
rename to etsi_its_msgs_utils/samples/publish_cpm_ts_multi_wrapped_container.py
index ccd215c7..4b205ff4 100755
--- a/utils/scripts/publish_cpm_ts_multi_wrapped_container.py
+++ b/etsi_its_msgs_utils/samples/publish_cpm_ts_multi_wrapped_container.py
@@ -24,6 +24,8 @@
 # SOFTWARE.
 # ==============================================================================
 
+# Sample CPM from 4th ETSI C-V2X Plugtests, Malaga/ESP, Sep 2024
+
 import rclpy
 from rclpy.node import Node
 from etsi_its_cpm_ts_msgs.msg import *
diff --git a/utils/scripts/publish_cpm_ts_sensor_information.py b/etsi_its_msgs_utils/samples/publish_cpm_ts_sensor_information.py
similarity index 98%
rename from utils/scripts/publish_cpm_ts_sensor_information.py
rename to etsi_its_msgs_utils/samples/publish_cpm_ts_sensor_information.py
index bc3b8b08..427e25ca 100755
--- a/utils/scripts/publish_cpm_ts_sensor_information.py
+++ b/etsi_its_msgs_utils/samples/publish_cpm_ts_sensor_information.py
@@ -24,6 +24,8 @@
 # SOFTWARE.
 # ==============================================================================
 
+# Sample CPM from 4th ETSI C-V2X Plugtests, Malaga/ESP, Sep 2024
+
 import rclpy
 from rclpy.node import Node
 from etsi_its_cpm_ts_msgs.msg import *
diff --git a/utils/scripts/publish_denm.py b/etsi_its_msgs_utils/samples/publish_denm.py
similarity index 100%
rename from utils/scripts/publish_denm.py
rename to etsi_its_msgs_utils/samples/publish_denm.py
diff --git a/utils/scripts/publish_vam_ts.py b/etsi_its_msgs_utils/samples/publish_vam_ts.py
similarity index 100%
rename from utils/scripts/publish_vam_ts.py
rename to etsi_its_msgs_utils/samples/publish_vam_ts.py
diff --git a/utils/scripts/utils.py b/etsi_its_msgs_utils/samples/utils.py
similarity index 100%
rename from utils/scripts/utils.py
rename to etsi_its_msgs_utils/samples/utils.py
diff --git a/utils/scripts/README.md b/utils/scripts/README.md
deleted file mode 100644
index 19fc41c7..00000000
--- a/utils/scripts/README.md
+++ /dev/null
@@ -1,31 +0,0 @@
-# Testing and Utility Scripts
-
-## Testing
-
-Test the conversion node by publishing ETSI messages in ROS, converting them to UDP bitstrings, and back to ROS messages.
-
-```bash
-ros2 run etsi_its_conversion etsi_its_conversion_node \
-    --ros-args \
-        -r __node:=etsi_its_conversion \
-        -r /etsi_its_conversion/udp/out:=/etsi_its_conversion/udp/in \
-        -p has_btp_destination_port:=true \
-        -p btp_destination_port_offset:=0 \
-        -p etsi_message_payload_offset:=4
-```
-
-```bash
-./publish_cam.py
-```
-
-```bash
-./publish_denm.py
-```
-
-```bash
-./publish_cpm_ts.py
-```
-
-```bash
-./publish_vam_ts.py
-```
\ No newline at end of file