diff --git a/Cargo.lock b/Cargo.lock
index 76008359..7cd59082 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1,6 +1,15 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 4
+version = 3
+
+[[package]]
+name = "addr2line"
+version = "0.25.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b5d307320b3181d6d7954e663bd7c774a838b8220fe0593c86d9fb09f498b4b"
+dependencies = [
+ "gimli",
+]
 
 [[package]]
 name = "adler2"
@@ -68,9 +77,9 @@ dependencies = [
 
 [[package]]
 name = "anstream"
-version = "0.6.21"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "43d5b281e737544384e969a5ccad3f1cdd24b48086a0fc1b2a5262a26b8f4f4a"
+checksum = "824a212faf96e9acacdbd09febd34438f8f711fb84e09a8916013cd7815ca28d"
 dependencies = [
  "anstyle",
  "anstyle-parse",
@@ -83,50 +92,53 @@ dependencies = [
 
 [[package]]
 name = "anstyle"
-version = "1.0.13"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5192cca8006f1fd4f7237516f40fa183bb07f8fbdfedaa0036de5ea9b0b45e78"
+checksum = "940b3a0ca603d1eade50a4846a2afffd5ef57a9feac2c0e2ec2e14f9ead76000"
 
 [[package]]
 name = "anstyle-parse"
-version = "0.2.7"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e7644824f0aa2c7b9384579234ef10eb7efb6a0deb83f9630a49594dd9c15c2"
+checksum = "52ce7f38b242319f7cabaa6813055467063ecdc9d355bbb4ce0c68908cd8130e"
 dependencies = [
  "utf8parse",
 ]
 
 [[package]]
 name = "anstyle-query"
-version = "1.1.4"
+version = "1.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e231f6134f61b71076a3eab506c379d4f36122f2af15a9ff04415ea4c3339e2"
+checksum = "40c48f72fd53cd289104fc64099abca73db4166ad86ea0b4341abe65af83dadc"
 dependencies = [
- "windows-sys 0.60.2",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
 name = "anstyle-wincon"
-version = "3.0.10"
+version = "3.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3e0633414522a32ffaac8ac6cc8f748e090c5717661fddeea04219e2344f5f2a"
+checksum = "291e6a250ff86cd4a820112fb8898808a366d8f9f58ce16d1f538353ad55747d"
 dependencies = [
  "anstyle",
  "once_cell_polyfill",
- "windows-sys 0.60.2",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
 name = "anyhow"
-version = "1.0.100"
+version = "1.0.102"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a23eb6b1614318a8071c9b2521f36b424b2c83db5eb3a0fead4a6c0809af6e61"
+checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c"
 
 [[package]]
 name = "arc-swap"
-version = "1.7.1"
+version = "1.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "69f7f8c3906b62b754cd5326047894316021dcfe5a194c8ea52bdd94934a3457"
+checksum = "f9f3647c145568cec02c42054e07bdf9a5a698e15b466fb2341bfc393cd24aa5"
+dependencies = [
+ "rustversion",
+]
 
 [[package]]
 name = "array-init"
@@ -146,7 +158,7 @@ dependencies = [
  "nom",
  "num-traits",
  "rusticata-macros",
- "thiserror 2.0.17",
+ "thiserror 2.0.18",
  "time",
 ]
 
@@ -158,7 +170,7 @@ checksum = "3109e49b1e4909e9db6515a30c633684d68cdeaa252f215214cb4fa1a5bfee2c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
  "synstructure",
 ]
 
@@ -170,7 +182,7 @@ checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -181,7 +193,7 @@ checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -190,6 +202,21 @@ version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
 
+[[package]]
+name = "backtrace"
+version = "0.3.76"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bb531853791a215d7c62a30daf0dde835f381ab5de4589cfe7c649d2cbe92bd6"
+dependencies = [
+ "addr2line",
+ "cfg-if",
+ "libc",
+ "miniz_oxide",
+ "object",
+ "rustc-demangle",
+ "windows-link",
+]
+
 [[package]]
 name = "base64"
 version = "0.22.1"
@@ -198,9 +225,9 @@ checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
 [[package]]
 name = "base64ct"
-version = "1.8.0"
+version = "1.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "55248b47b0caf0546f7988906588779981c43bb1bc9d0c44087278f80cdb44ba"
+checksum = "2af50177e190e07a26ab74f8b1efbfe2ef87da2116221318cb1c2e82baf7de06"
 
 [[package]]
 name = "bincode"
@@ -217,7 +244,7 @@ version = "0.72.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "993776b509cfb49c750f11b8f07a46fa23e0a1386ffc01fb1e7d343efc387895"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "cexpr",
  "clang-sys",
  "itertools 0.13.0",
@@ -228,7 +255,7 @@ dependencies = [
  "regex",
  "rustc-hash",
  "shlex",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -254,9 +281,9 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.10.0"
+version = "2.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "812e12b5285cc515a9c72a5c1d3b6d46a19dac5acfef5265968c166106e31dd3"
+checksum = "843867be96c8daad0d758b57df9392b6d8d271134fce549de6ce169ff98a92af"
 dependencies = [
  "serde_core",
 ]
@@ -281,9 +308,9 @@ dependencies = [
 
 [[package]]
 name = "bumpalo"
-version = "3.19.0"
+version = "3.20.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46c5e41b57b8bba42a04676d81cb89e9ee8e859a1a66f80a5a72e1cb76b34d43"
+checksum = "5d20789868f4b01b2f2caec9f5c4e0213b41e3e5702a50157d699ae31ced2fcb"
 
 [[package]]
 name = "bytemuck"
@@ -302,7 +329,7 @@ checksum = "f9abbd1bc6865053c427f7198e6af43bfdedc55ab791faed4fbd361d789575ff"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -313,9 +340,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.11.0"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b35204fbdc0b3f4446b89fc1ac2cf84a8a68971995d0bf2e925ec7cd960f9cb3"
+checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
 
 [[package]]
 name = "cassowary"
@@ -334,9 +361,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.2.45"
+version = "1.2.57"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "35900b6c8d709fb1d854671ae27aeaa9eec2f8b01b364e1619a40da3e6fe2afe"
+checksum = "7a0dd1ca384932ff3641c8718a02769f1698e7563dc6974ffd03346116310423"
 dependencies = [
  "find-msvc-tools",
  "shlex",
@@ -377,9 +404,9 @@ checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
 
 [[package]]
 name = "chrono"
-version = "0.4.42"
+version = "0.4.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "145052bdd345b87320e369255277e3fb5152762ad123a901ef5c262dd38fe8d2"
+checksum = "c673075a2e0e5f4a1dde27ce9dee1ea4558c7ffe648f576438a20ca1d2acc4b0"
 dependencies = [
  "iana-time-zone",
  "js-sys",
@@ -412,9 +439,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.51"
+version = "4.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c26d721170e0295f191a69bd9a1f93efcdb0aff38684b61ab5750468972e5f5"
+checksum = "b193af5b67834b676abd72466a96c1024e6a6ad978a1f484bd90b85c94041351"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -422,9 +449,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.5.51"
+version = "4.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75835f0c7bf681bfd05abe44e965760fea999a5286c6eb2d59883634fd02011a"
+checksum = "714a53001bf66416adb0e2ef5ac857140e7dc3a0c48fb28b2f10762fc4b5069f"
 dependencies = [
  "anstream",
  "anstyle",
@@ -434,21 +461,21 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.5.49"
+version = "4.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a0b5487afeab2deb2ff4e03a807ad1a03ac532ff5a2cee5d86884440c7f7671"
+checksum = "1110bd8a634a1ab8cb04345d8d878267d57c3cf1b38d91b71af6686408bbca6a"
 dependencies = [
  "heck",
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "clap_lex"
-version = "0.7.6"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1d728cc89cf3aee9ff92b05e62b19ee65a02b5702cff7d5a377e32c6ae29d8d"
+checksum = "c8d4a3bb8b1e0c1050499d1815f5ab16d04f0959b233085fb31653fbfc9d98f9"
 
 [[package]]
 name = "cobs"
@@ -467,11 +494,38 @@ dependencies = [
  "unicode-width 0.2.0",
 ]
 
+[[package]]
+name = "color-eyre"
+version = "0.6.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5920befb47832a6d61ee3a3a846565cfa39b331331e68a3b1d1116630f2f26d"
+dependencies = [
+ "backtrace",
+ "color-spantrace",
+ "eyre",
+ "indenter",
+ "once_cell",
+ "owo-colors",
+ "tracing-error",
+]
+
+[[package]]
+name = "color-spantrace"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b8b88ea9df13354b55bc7234ebcce36e6ef896aca2e42a15de9e10edce01b427"
+dependencies = [
+ "once_cell",
+ "owo-colors",
+ "tracing-core",
+ "tracing-error",
+]
+
 [[package]]
 name = "colorchoice"
-version = "1.0.4"
+version = "1.0.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b05b61dc5112cbb17e4b6cd61790d9845d13888356391624cbe7e41efeac1e75"
+checksum = "1d07550c9036bf2ae0c684c4297d503f838287c83c53686d05370d0e139ae570"
 
 [[package]]
 name = "combine"
@@ -649,7 +703,7 @@ version = "0.28.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "829d955a0bb380ef178a640b91779e3987da38c9aea133b20614cfed8cdea9c6"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "crossterm_winapi",
  "mio",
  "parking_lot",
@@ -665,13 +719,13 @@ version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d8b9f2e4c67f833b660cdb0a3523065869fb35570177239812ed4c905aeff87b"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "crossterm_winapi",
  "derive_more",
  "document-features",
  "mio",
  "parking_lot",
- "rustix 1.1.2",
+ "rustix 1.1.4",
  "signal-hook",
  "signal-hook-mio",
  "winapi",
@@ -688,9 +742,9 @@ dependencies = [
 
 [[package]]
 name = "crypto-common"
-version = "0.1.6"
+version = "0.1.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1bfb12502f3fc46cca1bb51ac28df9d618d813cdc3d2f25b9fe775a34af26bb3"
+checksum = "78c8292055d1c1df0cce5d180393dc8cce0abec0a7102adb6c7b1eef6016d60a"
 dependencies = [
  "generic-array",
  "typenum",
@@ -719,9 +773,9 @@ dependencies = [
 
 [[package]]
 name = "cxx"
-version = "1.0.188"
+version = "1.0.194"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "47ac4eaf7ebe29e92f1b091ceefec7710a53a6f6154b2460afda626c113b65b9"
+checksum = "747d8437319e3a2f43d93b341c137927ca70c0f5dabeea7a005a73665e247c7e"
 dependencies = [
  "cc",
  "cxx-build",
@@ -734,59 +788,49 @@ dependencies = [
 
 [[package]]
 name = "cxx-build"
-version = "1.0.188"
+version = "1.0.194"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2abd4c3021eefbac5149f994c117b426852bca3a0aad227698527bca6d4ea657"
+checksum = "b0f4697d190a142477b16aef7da8a99bfdc41e7e8b1687583c0d23a79c7afc1e"
 dependencies = [
  "cc",
  "codespan-reporting",
- "indexmap 2.12.0",
+ "indexmap 2.13.0",
  "proc-macro2",
  "quote",
  "scratch",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "cxxbridge-cmd"
-version = "1.0.188"
+version = "1.0.194"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6f12fbc5888b2311f23e52a601e11ad7790d8f0dbb903ec26e2513bf5373ed70"
+checksum = "d0956799fa8678d4c50eed028f2de1c0552ae183c76e976cf7ca8c4e36a7c328"
 dependencies = [
  "clap",
  "codespan-reporting",
- "indexmap 2.12.0",
+ "indexmap 2.13.0",
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "cxxbridge-flags"
-version = "1.0.188"
+version = "1.0.194"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "83d3dd7870af06e283f3f8ce0418019c96171c9ce122cfb9c8879de3d84388fd"
+checksum = "23384a836ab4f0ad98ace7e3955ad2de39de42378ab487dc28d3990392cb283a"
 
 [[package]]
 name = "cxxbridge-macro"
-version = "1.0.188"
+version = "1.0.194"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a26f0d82da663316786791c3d0e9f9edc7d1ee1f04bdad3d2643086a69d6256c"
+checksum = "e6acc6b5822b9526adfb4fc377b67128fdd60aac757cc4a741a6278603f763cf"
 dependencies = [
- "indexmap 2.12.0",
+ "indexmap 2.13.0",
  "proc-macro2",
  "quote",
- "syn 2.0.110",
-]
-
-[[package]]
-name = "darling"
-version = "0.21.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cdf337090841a411e2a7f3deb9187445851f91b309c0c0a29e05f74a00a48c0"
-dependencies = [
- "darling_core 0.21.3",
- "darling_macro 0.21.3",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -795,22 +839,8 @@ version = "0.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "25ae13da2f202d56bd7f91c25fba009e7717a1e4a1cc98a76d844b65ae912e9d"
 dependencies = [
- "darling_core 0.23.0",
- "darling_macro 0.23.0",
-]
-
-[[package]]
-name = "darling_core"
-version = "0.21.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1247195ecd7e3c85f83c8d2a366e4210d588e802133e1e355180a9870b517ea4"
-dependencies = [
- "fnv",
- "ident_case",
- "proc-macro2",
- "quote",
- "strsim",
- "syn 2.0.110",
+ "darling_core",
+ "darling_macro",
 ]
 
 [[package]]
@@ -823,18 +853,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "strsim",
- "syn 2.0.110",
-]
-
-[[package]]
-name = "darling_macro"
-version = "0.21.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d38308df82d1080de0afee5d069fa14b0326a88c14f15c5ccda35b4a6c414c81"
-dependencies = [
- "darling_core 0.21.3",
- "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -843,9 +862,9 @@ version = "0.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ac3984ec7bd6cfa798e62b4a642426a5be0e68f9401cfc2a01e3fa9ea2fcdb8d"
 dependencies = [
- "darling_core 0.23.0",
+ "darling_core",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -863,9 +882,9 @@ dependencies = [
 
 [[package]]
 name = "data-encoding"
-version = "2.9.0"
+version = "2.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a2330da5de22e8a3cb63252ce2abb30116bf5265e89c0e01bc17015ce30a476"
+checksum = "d7a1e2f27636f116493b8b860f5546edb47c8d8f8ea73e1d2a20be88e28d1fea"
 
 [[package]]
 name = "der"
@@ -894,9 +913,9 @@ dependencies = [
 
 [[package]]
 name = "deranged"
-version = "0.5.5"
+version = "0.5.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ececcb659e7ba858fb4f10388c250a7252eb0a27373f1a72b8748afdd248e587"
+checksum = "7cd812cc2bc1d69d4764bd80df88b4317eaef9e773c75226407d9bc0876b211c"
 dependencies = [
  "powerfmt",
  "serde_core",
@@ -921,7 +940,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "rustc_version",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -965,7 +984,7 @@ checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1028,6 +1047,16 @@ dependencies = [
  "pin-project-lite",
 ]
 
+[[package]]
+name = "eyre"
+version = "0.6.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7cd915d99f24784cdc19fd37ef22b97e3ff0ae756c7e492e9fbfe897d61e2aec"
+dependencies = [
+ "indenter",
+ "once_cell",
+]
+
 [[package]]
 name = "fallible-iterator"
 version = "0.3.0"
@@ -1042,9 +1071,9 @@ checksum = "7360491ce676a36bf9bb3c56c1aa791658183a54d2744120f27285738d90465a"
 
 [[package]]
 name = "fastbloom"
-version = "0.14.0"
+version = "0.14.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "18c1ddb9231d8554c2d6bdf4cfaabf0c59251658c68b6c95cd52dd0c513a912a"
+checksum = "4e7f34442dbe69c60fe8eaf58a8cafff81a1f278816d8ab4db255b3bef4ac3c4"
 dependencies = [
  "getrandom 0.3.4",
  "libm",
@@ -1060,9 +1089,9 @@ checksum = "37909eebbb50d72f9059c3b6d82c0463f2ff062c9e95845c43a6c9c0355411be"
 
 [[package]]
 name = "find-msvc-tools"
-version = "0.1.4"
+version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "52051878f80a721bb68ebfbc930e07b65ba72f2da88968ea5c06fd6ca3d3a127"
+checksum = "5baebc0774151f905a1a2cc41989300b1e6fbb29aff0ceffa1064fdd3088d582"
 
 [[package]]
 name = "fixedbitset"
@@ -1072,9 +1101,9 @@ checksum = "1d674e81391d1e1ab681a28d99df07927c6d4aa5b027d7da16ba32d1d21ecd99"
 
 [[package]]
 name = "flate2"
-version = "1.1.8"
+version = "1.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b375d6465b98090a5f25b1c7703f3859783755aa9a80433b36e0379a3ec2f369"
+checksum = "843fba2746e448b37e26a819579957415c8cef339bf08564fe8b7ddbd959573c"
 dependencies = [
  "crc32fast",
  "miniz_oxide",
@@ -1121,9 +1150,9 @@ dependencies = [
 
 [[package]]
 name = "futures"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
+checksum = "8b147ee9d1f6d097cef9ce628cd2ee62288d963e16fb287bd9286455b241382d"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -1136,9 +1165,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
+checksum = "07bbe89c50d7a535e539b8c17bc0b49bdb77747034daa8087407d655f3f7cc1d"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -1146,15 +1175,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
+checksum = "7e3450815272ef58cec6d564423f6e755e25379b217b0bc688e295ba24df6b1d"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e28d1d997f585e54aebc3f97d39e72338912123a67330d723fdbb564d646c9f"
+checksum = "baf29c38818342a3b26b5b923639e7b1f4a61fc5e76102d4b1981c6dc7a7579d"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -1163,38 +1192,38 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
+checksum = "cecba35d7ad927e23624b22ad55235f2239cfa44fd10428eecbeba6d6a717718"
 
 [[package]]
 name = "futures-macro"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
+checksum = "e835b70203e41293343137df5c0664546da5745f82ec9b84d40be8336958447b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "futures-sink"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7"
+checksum = "c39754e157331b013978ec91992bde1ac089843443c49cbc7f46150b0fad0893"
 
 [[package]]
 name = "futures-task"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
+checksum = "037711b3d59c33004d3856fbdc83b99d4ff37a24768fa1be9ce3538a1cde4393"
 
 [[package]]
 name = "futures-util"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
+checksum = "389ca41296e6190b48053de0321d02a77f32f8a5d2461dd38762c0593805c6d6"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -1204,15 +1233,14 @@ dependencies = [
  "futures-task",
  "memchr",
  "pin-project-lite",
- "pin-utils",
  "slab",
 ]
 
 [[package]]
 name = "generic-array"
-version = "0.14.9"
+version = "0.14.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bb6743198531e02858aeaea5398fcc883e71851fcbcb5a2f773e2fb6cb1edf2"
+checksum = "85649ca51fd72272d7821adaf274ad91c288277713d9c18820d8499a7ff69e9a"
 dependencies = [
  "typenum",
  "version_check",
@@ -1220,9 +1248,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.16"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "335ff9f135e4384c8150d6f27c6daed433577f86b4750418338c01a1a2528592"
+checksum = "ff2abc00be7fca6ebc474524697ae276ad847ad0a6b3faa4bcb027e9a4614ad0"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -1240,11 +1268,30 @@ dependencies = [
  "cfg-if",
  "js-sys",
  "libc",
- "r-efi",
+ "r-efi 5.3.0",
  "wasip2",
  "wasm-bindgen",
 ]
 
+[[package]]
+name = "getrandom"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0de51e6874e94e7bf76d726fc5d13ba782deca734ff60d5bb2fb2607c7406555"
+dependencies = [
+ "cfg-if",
+ "libc",
+ "r-efi 6.0.0",
+ "wasip2",
+ "wasip3",
+]
+
+[[package]]
+name = "gimli"
+version = "0.32.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e629b9b98ef3dd8afe6ca2bd0f89306cec16d43d907889945bc5d6687f2f13c7"
+
 [[package]]
 name = "git-version"
 version = "0.3.9"
@@ -1262,7 +1309,7 @@ checksum = "53010ccb100b96a67bc32c0175f0ed1426b31b655d562898e57325f81c023ac0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1300,9 +1347,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5419bdc4f6a9207fbeba6d11b604d481addf78ecd10c11ad51e76c2f6482748d"
+checksum = "841d1cc9bed7f9236f321df977030373f4a4163ae1a7dbfe1a51a2c1a51d9100"
 dependencies = [
  "allocator-api2",
  "equivalent",
@@ -1356,12 +1403,11 @@ dependencies = [
 
 [[package]]
 name = "http"
-version = "1.3.1"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f4a85d31aea989eead29a3aaf9e1115a180df8282431156e533de47660892565"
+checksum = "e3ba2a386d7f85a81f119ad7498ebe444d2e22c2af0b86b069416ace48b3311a"
 dependencies = [
  "bytes",
- "fnv",
  "itoa",
 ]
 
@@ -1379,9 +1425,9 @@ checksum = "135b12329e5e3ce057a9f972339ea52bc954fe1e9358ef27f95e89716fbc5424"
 
 [[package]]
 name = "iana-time-zone"
-version = "0.1.64"
+version = "0.1.65"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "33e57f83510bb73707521ebaffa789ec8caf86f9657cad665b092b581d40e9fb"
+checksum = "e31bc9ad994ba00e440a8aa5c9ef0ec67d5cb5e5cb0cc7f8b744a35b389cc470"
 dependencies = [
  "android_system_properties",
  "core-foundation-sys",
@@ -1449,9 +1495,9 @@ checksum = "7aedcccd01fc5fe81e6b489c15b247b8b0690feb23304303a9e560f37efc560a"
 
 [[package]]
 name = "icu_properties"
-version = "2.1.1"
+version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e93fcd3157766c0c8da2f8cff6ce651a31f0810eaa1c51ec363ef790bbb5fb99"
+checksum = "020bfc02fe870ec3a66d93e677ccca0562506e5872c650f893269e08615d74ec"
 dependencies = [
  "icu_collections",
  "icu_locale_core",
@@ -1463,9 +1509,9 @@ dependencies = [
 
 [[package]]
 name = "icu_properties_data"
-version = "2.1.1"
+version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02845b3647bb045f1100ecd6480ff52f34c35f82d9880e029d329c21d1054899"
+checksum = "616c294cf8d725c6afcd8f55abc17c56464ef6211f9ed59cccffe534129c77af"
 
 [[package]]
 name = "icu_provider"
@@ -1482,6 +1528,12 @@ dependencies = [
  "zerovec",
 ]
 
+[[package]]
+name = "id-arena"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d3067d79b975e8844ca9eb072e16b31c3c1c36928edf9c6789548c524d0d954"
+
 [[package]]
 name = "ident_case"
 version = "1.0.1"
@@ -1509,6 +1561,12 @@ dependencies = [
  "icu_properties",
 ]
 
+[[package]]
+name = "indenter"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "964de6e86d545b246d84badc0fef527924ace5134f30641c203ef52ba83f58d5"
+
 [[package]]
 name = "indexmap"
 version = "1.9.3"
@@ -1522,12 +1580,12 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.12.0"
+version = "2.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6717a8d2a5a929a1a2eb43a12812498ed141a0bcfb7e8f7844fbdbe4303bba9f"
+checksum = "7714e70437a7dc3ac8eb7e6f8df75fd8eb422675fc7678aff7364301092b1017"
 dependencies = [
  "equivalent",
- "hashbrown 0.16.0",
+ "hashbrown 0.16.1",
  "serde",
  "serde_core",
 ]
@@ -1564,15 +1622,15 @@ dependencies = [
 
 [[package]]
 name = "instability"
-version = "0.3.11"
+version = "0.3.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "357b7205c6cd18dd2c86ed312d1e70add149aea98e7ef72b9fdf0270e555c11d"
+checksum = "5eb2d60ef19920a3a9193c3e371f726ec1dafc045dac788d0fb3704272458971"
 dependencies = [
- "darling 0.23.0",
+ "darling",
  "indoc",
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1620,9 +1678,9 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.15"
+version = "1.0.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4a5f13b858c8d314ee3e8f639011f7ccefe71f97f96e50151fb991f267928e2c"
+checksum = "92ecc6618181def0457392ccd0ee51198e065e016d1d527a7ac1b6dc7c1f09d2"
 
 [[package]]
 name = "jni"
@@ -1648,9 +1706,9 @@ checksum = "8eaf4bc02d17cbdd7ff4c7438cafcdf7fb9a4613313ad11b4f8fefe7d3fa0130"
 
 [[package]]
 name = "js-sys"
-version = "0.3.82"
+version = "0.3.91"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b011eec8cc36da2aab2d5cff675ec18454fad408585853910a202391cf9f8e65"
+checksum = "b49715b7073f385ba4bc528e5747d02e66cb39c6146efb66b781f131f0fb399c"
 dependencies = [
  "once_cell",
  "wasm-bindgen",
@@ -1669,9 +1727,9 @@ dependencies = [
 
 [[package]]
 name = "keccak"
-version = "0.1.5"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ecc2af9a1119c51f12a14607e783cb977bde58bc069ff0c3da1095e635d70654"
+checksum = "cb26cec98cce3a3d96cbb7bced3c4b16e3d13f27ec56dbd62cbc8f39cfb9d653"
 dependencies = [
  "cpufeatures",
 ]
@@ -1700,11 +1758,17 @@ version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "884e2677b40cc8c339eaefcb701c32ef1fd2493d71118dc0ca4b6a736c93bd67"
 
+[[package]]
+name = "leb128fmt"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09edd9e8b54e49e587e4f6295a7d29c3ea94d469cb40ab8ca70b288248a81db2"
+
 [[package]]
 name = "libc"
-version = "0.2.177"
+version = "0.2.183"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2874a2af47a2325c2001a6e6fad9b16a53b802102b528163885171cf92b15976"
+checksum = "b5b646652bf6661599e1da8901b3b9522896f01e736bad5f723fe7a3a27f899d"
 
 [[package]]
 name = "libloading"
@@ -1718,17 +1782,16 @@ dependencies = [
 
 [[package]]
 name = "libm"
-version = "0.2.15"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
+checksum = "b6d2cec3eae94f9f509c767b45932f1ada8350c4bdb85af2fcab4a3c14807981"
 
 [[package]]
 name = "libredox"
-version = "0.1.10"
+version = "0.1.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "416f7e718bdb06000964960ffa43b4335ad4012ae8b99060261aa4a8088d5ccb"
+checksum = "1744e39d1d6a9948f4f388969627434e31128196de472883b39f148769bfe30a"
 dependencies = [
- "bitflags 2.10.0",
  "libc",
 ]
 
@@ -1760,9 +1823,9 @@ checksum = "d26c52dbd32dccf2d10cac7725f8eae5296885fb5703b261f7d0a0739ec807ab"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.11.0"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "df1d3c3b53da64cf5760482273a98e575c651a67eec7f77df96b5b642de8f039"
+checksum = "32a66949e030da00e8c7d4434b251670a91556f4144941d37452769c25d58a53"
 
 [[package]]
 name = "litemap"
@@ -1787,9 +1850,9 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.28"
+version = "0.4.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34080505efa8e45a4b816c349525ebe327ceaa8559756f0356cba97ef3bf7432"
+checksum = "5e5032e24019045c762d3c0f28f5b6b8bbf38563a65908389bf7978758920897"
 
 [[package]]
 name = "lru"
@@ -1808,9 +1871,9 @@ checksum = "112b39cec0b298b6c1999fee3e31427f74f676e4cb9879ed1a121b43661a4154"
 
 [[package]]
 name = "lz4_flex"
-version = "0.11.5"
+version = "0.11.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08ab2867e3eeeca90e844d1940eab391c9dc5228783db2ed999acbc0a9ed375a"
+checksum = "373f5eceeeab7925e0c1098212f2fbc4d416adec9d35051a6ab251e824c1854a"
 dependencies = [
  "twox-hash",
 ]
@@ -1835,9 +1898,9 @@ dependencies = [
 
 [[package]]
 name = "memchr"
-version = "2.7.6"
+version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f52b00d39961fc5b2736ea853c9cc86238e165017a493d1d5c8eac6bdc4cc273"
+checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
 
 [[package]]
 name = "memoffset"
@@ -1866,9 +1929,9 @@ dependencies = [
 
 [[package]]
 name = "mio"
-version = "1.1.0"
+version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "69d83b0086dc8ecf3ce9ae2874b2d1290252e2a30720bea58a5c6639b0092873"
+checksum = "a69bcab0ad47271a0234d9422b131806bf3968021e5dc9328caf2d4cd58557fc"
 dependencies = [
  "libc",
  "log",
@@ -1901,7 +1964,7 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6a51313c5820b0b02bd422f4b44776fbf47961755c74ce64afc73bfad10226c3"
 dependencies = [
- "getrandom 0.2.16",
+ "getrandom 0.2.17",
 ]
 
 [[package]]
@@ -1921,7 +1984,7 @@ version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "cfg-if",
  "cfg_aliases 0.2.1",
  "libc",
@@ -1989,9 +2052,9 @@ dependencies = [
 
 [[package]]
 name = "num-conv"
-version = "0.1.0"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "51d515d32fb182ee37cda2ccdcb92950d6a3c2893aa280e540671c2cd0f3b1d9"
+checksum = "cf97ec579c3c42f953ef76dbf8d55ac91fb219dde70e49aa4a6b7d74e9919050"
 
 [[package]]
 name = "num-integer"
@@ -2033,6 +2096,15 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "object"
+version = "0.37.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff76201f031d8863c38aa7f905eca4f53abbfa15f609db4277d44cd8938f33fe"
+dependencies = [
+ "memchr",
+]
+
 [[package]]
 name = "oid-registry"
 version = "0.8.1"
@@ -2044,9 +2116,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.21.3"
+version = "1.21.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
+checksum = "9f7c3e4beb33f85d45ae3e3a1792185706c8e16d043238c593331cc7cd313b50"
 
 [[package]]
 name = "once_cell_polyfill"
@@ -2056,9 +2128,9 @@ checksum = "384b8ab6d37215f3c5301a95a4accb5d64aa607f1fcb26a11b5303878451b4fe"
 
 [[package]]
 name = "openssl-probe"
-version = "0.1.6"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d05e27ee213611ffe7d6348b942e8f942b37114c00cc03cec254295a4a17852e"
+checksum = "7c87def4c32ab89d880effc9e097653c8da5d6ef28e6b539d313baaacfbafcbe"
 
 [[package]]
 name = "option-ext"
@@ -2066,6 +2138,12 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "04744f49eae99ab78e0d5c0b603ab218f515ea8cfe5a456d7629ad883a3b6e7d"
 
+[[package]]
+name = "owo-colors"
+version = "4.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d211803b9b6b570f68772237e415a029d5a50c65d382910b879fb19d3271f94d"
+
 [[package]]
 name = "parking"
 version = "2.2.1"
@@ -2118,9 +2196,9 @@ checksum = "9b4f627cb1b25917193a259e49bdad08f671f8d9708acfd5fe0a8c1455d87220"
 
 [[package]]
 name = "pest"
-version = "2.8.3"
+version = "2.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "989e7521a040efde50c3ab6bbadafbe15ab6dc042686926be59ac35d74607df4"
+checksum = "e0848c601009d37dfa3430c4666e147e49cdcf1b92ecd3e63657d8a5f19da662"
 dependencies = [
  "memchr",
  "ucd-trie",
@@ -2128,9 +2206,9 @@ dependencies = [
 
 [[package]]
 name = "pest_derive"
-version = "2.8.3"
+version = "2.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "187da9a3030dbafabbbfb20cb323b976dc7b7ce91fcd84f2f74d6e31d378e2de"
+checksum = "11f486f1ea21e6c10ed15d5a7c77165d0ee443402f0780849d1768e7d9d6fe77"
 dependencies = [
  "pest",
  "pest_generator",
@@ -2138,37 +2216,27 @@ dependencies = [
 
 [[package]]
 name = "pest_generator"
-version = "2.8.3"
+version = "2.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49b401d98f5757ebe97a26085998d6c0eecec4995cad6ab7fc30ffdf4b052843"
+checksum = "8040c4647b13b210a963c1ed407c1ff4fdfa01c31d6d2a098218702e6664f94f"
 dependencies = [
  "pest",
  "pest_meta",
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "pest_meta"
-version = "2.8.3"
+version = "2.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72f27a2cfee9f9039c4d86faa5af122a0ac3851441a34865b8a043b46be0065a"
+checksum = "89815c69d36021a140146f26659a81d6c2afa33d216d736dd4be5381a7362220"
 dependencies = [
  "pest",
  "sha2",
 ]
 
-[[package]]
-name = "petgraph"
-version = "0.7.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3672b37090dbd86368a4145bc067582552b29c27377cad4e0a306c97f9bd7772"
-dependencies = [
- "fixedbitset",
- "indexmap 2.12.0",
-]
-
 [[package]]
 name = "petgraph"
 version = "0.8.3"
@@ -2177,7 +2245,7 @@ checksum = "8701b58ea97060d5e5b155d383a69952a60943f0e6dfe30b04c287beb0b27455"
 dependencies = [
  "fixedbitset",
  "hashbrown 0.15.5",
- "indexmap 2.12.0",
+ "indexmap 2.13.0",
  "serde",
 ]
 
@@ -2212,7 +2280,7 @@ dependencies = [
  "phf_shared",
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -2226,15 +2294,9 @@ dependencies = [
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.16"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"
-
-[[package]]
-name = "pin-utils"
-version = "0.1.0"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
+checksum = "a89322df9ebe1c1578d689c92318e070967d1042b512afbe49518723f4e6d5cd"
 
 [[package]]
 name = "pkcs1"
@@ -2332,23 +2394,23 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "479ca8adacdd7ce8f1fb39ce9ecccbfe93a3f1344b3d0d97f20bc0196208f62b"
 dependencies = [
  "proc-macro2",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "proc-macro-crate"
-version = "3.4.0"
+version = "3.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "219cb19e96be00ab2e37d6e299658a0cfa83e52429179969b0f0121b4ac46983"
+checksum = "e67ba7e9b2b56446f1d419b1d807906278ffa1a658a8a5d8a39dcb1f5a78614f"
 dependencies = [
  "toml_edit",
 ]
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.103"
+version = "1.0.106"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ee95bc4ef87b8d5ba32e8b7714ccc834865276eab0aed5c9958d00ec45f49e8"
+checksum = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934"
 dependencies = [
  "unicode-ident",
 ]
@@ -2373,7 +2435,7 @@ checksum = "9adf1691c04c0a5ff46ff8f262b58beb07b0dbb61f96f9f54f6cbd82106ed87f"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -2384,7 +2446,7 @@ checksum = "37566cb3fdacef14c0737f9546df7cfeadbfbc9fef10991038bf5015d0c80532"
 dependencies = [
  "bit-set",
  "bit-vec",
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "num-traits",
  "rand 0.9.2",
  "rand_chacha 0.9.0",
@@ -2397,9 +2459,9 @@ dependencies = [
 
 [[package]]
 name = "prost"
-version = "0.14.1"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7231bd9b3d3d33c86b58adbac74b5ec0ad9f496b19d22801d773636feaa95f3d"
+checksum = "d2ea70524a2f82d518bce41317d0fae74151505651af45faf1ffbd6fd33f0568"
 dependencies = [
  "bytes",
  "prost-derive",
@@ -2407,42 +2469,41 @@ dependencies = [
 
 [[package]]
 name = "prost-build"
-version = "0.14.1"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac6c3320f9abac597dcbc668774ef006702672474aad53c6d596b62e487b40b1"
+checksum = "343d3bd7056eda839b03204e68deff7d1b13aba7af2b2fd16890697274262ee7"
 dependencies = [
  "heck",
  "itertools 0.14.0",
  "log",
  "multimap",
- "once_cell",
- "petgraph 0.7.1",
+ "petgraph",
  "prettyplease",
  "prost",
  "prost-types",
  "regex",
- "syn 2.0.110",
+ "syn 2.0.117",
  "tempfile",
 ]
 
 [[package]]
 name = "prost-derive"
-version = "0.14.1"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9120690fafc389a67ba3803df527d0ec9cbbc9cc45e4cc20b332996dfb672425"
+checksum = "27c6023962132f4b30eb4c172c91ce92d933da334c59c23cddee82358ddafb0b"
 dependencies = [
  "anyhow",
  "itertools 0.14.0",
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "prost-types"
-version = "0.14.1"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9b4db3d6da204ed77bb26ba83b6122a73aeb2e87e25fbf7ad2e84c4ccbf8f72"
+checksum = "8991c4cbdb8bc5b11f0b074ffe286c30e523de90fee5ba8132f1399f23cb3dd7"
 dependencies = [
  "prost",
 ]
@@ -2508,7 +2569,7 @@ dependencies = [
  "proc-macro2",
  "pyo3-macros-backend",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -2521,7 +2582,7 @@ dependencies = [
  "proc-macro2",
  "pyo3-build-config",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -2543,8 +2604,8 @@ dependencies = [
  "quinn-udp",
  "rustc-hash",
  "rustls",
- "socket2 0.6.1",
- "thiserror 2.0.17",
+ "socket2 0.6.3",
+ "thiserror 2.0.18",
  "tokio",
  "tracing",
  "web-time",
@@ -2552,9 +2613,9 @@ dependencies = [
 
 [[package]]
 name = "quinn-proto"
-version = "0.11.13"
+version = "0.11.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1906b49b0c3bc04b5fe5d86a77925ae6524a19b816ae38ce1e426255f1d8a31"
+checksum = "434b42fec591c96ef50e21e886936e66d3cc3f737104fdb9b737c40ffb94c098"
 dependencies = [
  "bytes",
  "fastbloom",
@@ -2567,7 +2628,7 @@ dependencies = [
  "rustls-pki-types",
  "rustls-platform-verifier",
  "slab",
- "thiserror 2.0.17",
+ "thiserror 2.0.18",
  "tinyvec",
  "tracing",
  "web-time",
@@ -2582,16 +2643,16 @@ dependencies = [
  "cfg_aliases 0.2.1",
  "libc",
  "once_cell",
- "socket2 0.6.1",
+ "socket2 0.6.3",
  "tracing",
  "windows-sys 0.60.2",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.42"
+version = "1.0.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a338cc41d27e6cc6dce6cefc13a0729dfbb81c262b1f519331575dd80ef3067f"
+checksum = "41f2619966050689382d2b44f664f4bc593e129785a36d6ee376ddf37259b924"
 dependencies = [
  "proc-macro2",
 ]
@@ -2602,6 +2663,12 @@ version = "5.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "69cdb34c158ceb288df11e18b4bd39de994f6657d83847bdffdbd7f346754b0f"
 
+[[package]]
+name = "r-efi"
+version = "6.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8dcc9c7d52a811697d2151c701e0d08956f92b0e24136cf4cf27b57a6a0d9bf"
+
 [[package]]
 name = "rand"
 version = "0.8.5"
@@ -2620,7 +2687,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6db2770f06117d490610c7488547d543617b21bfa07796d7a12f6f1bd53850d1"
 dependencies = [
  "rand_chacha 0.9.0",
- "rand_core 0.9.3",
+ "rand_core 0.9.5",
 ]
 
 [[package]]
@@ -2640,7 +2707,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d3022b5f1df60f26e1ffddd6c66e8aa15de382ae63b3a0c1bfc0e4d3e3f325cb"
 dependencies = [
  "ppv-lite86",
- "rand_core 0.9.3",
+ "rand_core 0.9.5",
 ]
 
 [[package]]
@@ -2649,14 +2716,14 @@ version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 dependencies = [
- "getrandom 0.2.16",
+ "getrandom 0.2.17",
 ]
 
 [[package]]
 name = "rand_core"
-version = "0.9.3"
+version = "0.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "99d9a13982dcf210057a8a78572b2217b667c3beacbf3a0d8b454f6f82837d38"
+checksum = "76afc826de14238e6e8c374ddcc1fa19e374fd8dd986b0d2af0d02377261d83c"
 dependencies = [
  "getrandom 0.3.4",
 ]
@@ -2667,7 +2734,7 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "513962919efc330f829edb2535844d1b912b0fbe2ca165d613e4e8788bb05a5a"
 dependencies = [
- "rand_core 0.9.3",
+ "rand_core 0.9.5",
 ]
 
 [[package]]
@@ -2676,7 +2743,7 @@ version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "eabd94c2f37801c20583fc49dd5cd6b0ba68c716787c2dd6ed18571e1e63117b"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "cassowary",
  "compact_str",
  "crossterm 0.28.1",
@@ -2697,7 +2764,7 @@ version = "0.5.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
 ]
 
 [[package]]
@@ -2706,9 +2773,9 @@ version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a4e608c6638b9c18977b00b475ac1f28d14e84b27d8d42f70e0bf1e3dec127ac"
 dependencies = [
- "getrandom 0.2.16",
+ "getrandom 0.2.17",
  "libredox",
- "thiserror 2.0.17",
+ "thiserror 2.0.18",
 ]
 
 [[package]]
@@ -2728,14 +2795,14 @@ checksum = "b7186006dcb21920990093f30e3dea63b7d6e977bf1256be20c3563a5db070da"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "regex"
-version = "1.12.2"
+version = "1.12.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "843bc0191f75f3e22651ae5f1e72939ab2f72a4bc30fa80a066bd66edefc24d4"
+checksum = "e10754a14b9137dd7b1e3e5b0493cc9171fdd105e0ab477f51b72e7f3ac0e276"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -2745,9 +2812,9 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.13"
+version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5276caf25ac86c8d810222b3dbb938e512c55c6831a10f3e6ed1c93b84041f1c"
+checksum = "6e1dd4122fc1595e8162618945476892eefca7b88c52820e74af6262213cae8f"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -2756,9 +2823,9 @@ dependencies = [
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.8"
+version = "0.8.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a2d987857b319362043e95f5353c0535c1f58eec5336fdfcf626430af7def58"
+checksum = "dc897dd8d9e8bd1ed8cdad82b5966c3e0ecae09fb1907d58efaa013543185d0a"
 
 [[package]]
 name = "ring"
@@ -2768,7 +2835,7 @@ checksum = "a4689e6c2294d81e88dc6261c768b63bc4fcdb852be6d1352498b114f61383b7"
 dependencies = [
  "cc",
  "cfg-if",
- "getrandom 0.2.16",
+ "getrandom 0.2.17",
  "libc",
  "untrusted",
  "windows-sys 0.52.0",
@@ -2809,7 +2876,7 @@ version = "0.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fd490c5b18261893f14449cbd28cb9c0b637aebf161cd77900bfdedaff21ec32"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "once_cell",
  "serde",
  "serde_derive",
@@ -2835,6 +2902,7 @@ dependencies = [
  "pyo3",
  "ros-z-cdr",
  "ros-z-codegen",
+ "ros-z-derive",
  "ros-z-msgs",
  "ros-z-protocol",
  "ros-z-schema",
@@ -2848,6 +2916,7 @@ dependencies = [
  "tokio",
  "tokio-util",
  "tracing",
+ "trybuild",
  "uuid",
  "zenoh",
  "zenoh-buffers",
@@ -2882,6 +2951,19 @@ dependencies = [
  "zenoh-buffers",
 ]
 
+[[package]]
+name = "ros-z-cli"
+version = "0.1.0"
+dependencies = [
+ "clap",
+ "color-eyre",
+ "ros-z",
+ "ros-z-protocol",
+ "serde",
+ "serde_json",
+ "tokio",
+]
+
 [[package]]
 name = "ros-z-codegen"
 version = "0.1.0"
@@ -2899,7 +2981,7 @@ dependencies = [
  "serde_json",
  "serial_test",
  "sha2",
- "syn 2.0.110",
+ "syn 2.0.117",
  "tempfile",
 ]
 
@@ -2934,7 +3016,7 @@ version = "0.1.0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -3041,7 +3123,7 @@ version = "0.32.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7753b721174eb8ff87a9a0e799e2d7bc3749323e773db92e0984debb00019d6e"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "fallible-iterator",
  "fallible-streaming-iterator",
  "hashlink",
@@ -3049,6 +3131,12 @@ dependencies = [
  "smallvec",
 ]
 
+[[package]]
+name = "rustc-demangle"
+version = "0.1.27"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b50b8869d9fc858ce7266cce0194bd74df58b9d0e3f6df3a9fc8eb470d95c09d"
+
 [[package]]
 name = "rustc-hash"
 version = "2.1.1"
@@ -3079,31 +3167,31 @@ version = "0.38.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fdb5bc1ae2baa591800df16c9ca78619bf65c0488b41b96ccec5d11220d8c154"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "errno",
  "libc",
  "linux-raw-sys 0.4.15",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
 name = "rustix"
-version = "1.1.2"
+version = "1.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd15f8a2c5551a84d56efdc1cd049089e409ac19a3072d5037a17fd70719ff3e"
+checksum = "b6fe4565b9518b83ef4f91bb47ce29620ca828bd32cb7e408f0062e9930ba190"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "errno",
  "libc",
- "linux-raw-sys 0.11.0",
+ "linux-raw-sys 0.12.1",
  "windows-sys 0.61.2",
 ]
 
 [[package]]
 name = "rustls"
-version = "0.23.35"
+version = "0.23.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "533f54bc6a7d4f647e46ad909549eda97bf5afc1585190ef692b4286b198bd8f"
+checksum = "758025cb5fccfd3bc2fd74708fd4682be41d99e5dff73c377c0646c6012c73a4"
 dependencies = [
  "log",
  "once_cell",
@@ -3116,9 +3204,9 @@ dependencies = [
 
 [[package]]
 name = "rustls-native-certs"
-version = "0.8.2"
+version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9980d917ebb0c0536119ba501e90834767bffc3d60641457fd84a1f3fd337923"
+checksum = "612460d5f7bea540c490b2b6395d8e34a953e52b491accd6c86c8164c5932a63"
 dependencies = [
  "openssl-probe",
  "rustls-pki-types",
@@ -3137,9 +3225,9 @@ dependencies = [
 
 [[package]]
 name = "rustls-pki-types"
-version = "1.13.0"
+version = "1.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94182ad936a0c91c324cd46c6511b9510ed16af436d7b5bab34beab0afd55f7a"
+checksum = "be040f8b0a225e40375822a563fa9524378b9d63112f53e19ffff34df5d33fdd"
 dependencies = [
  "web-time",
  "zeroize",
@@ -3174,9 +3262,9 @@ checksum = "f87165f0995f63a9fbeea62b64d10b4d9d8e78ec6d7d51fb2125fda7bb36788f"
 
 [[package]]
 name = "rustls-webpki"
-version = "0.103.8"
+version = "0.103.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2ffdfa2f5286e2247234e03f680868ac2815974dc39e00ea15adc445d0aafe52"
+checksum = "d7df23109aa6c1567d1c575b9952556388da57401e4ace1d15f79eedad0d8f53"
 dependencies = [
  "ring",
  "rustls-pki-types",
@@ -3203,9 +3291,9 @@ dependencies = [
 
 [[package]]
 name = "ryu"
-version = "1.0.20"
+version = "1.0.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "28d3b2b1366ec20994f1fd18c3c594f05c5dd4bc44d8bb0c1c632c8d6829481f"
+checksum = "9774ba4a74de5f7b1c1451ed6cd5285a32eddb5cccb8cc655a4e50009e06477f"
 
 [[package]]
 name = "same-file"
@@ -3227,9 +3315,9 @@ dependencies = [
 
 [[package]]
 name = "schannel"
-version = "0.1.28"
+version = "0.1.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "891d81b926048e76efe18581bf793546b4c0eaf8448d72be8de2bbee5fd166e1"
+checksum = "91c1b7e4904c873ef0710c1f407dde2e6287de2bebc1bbbf7d430bb7cbffd939"
 dependencies = [
  "windows-sys 0.61.2",
 ]
@@ -3248,9 +3336,9 @@ dependencies = [
 
 [[package]]
 name = "schemars"
-version = "1.1.0"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9558e172d4e8533736ba97870c4b2cd63f84b382a3d6eb063da41b91cce17289"
+checksum = "a2b42f36aa1cd011945615b92222f6bf73c599a102a300334cd7f8dbeec726cc"
 dependencies = [
  "dyn-clone",
  "either",
@@ -3262,14 +3350,14 @@ dependencies = [
 
 [[package]]
 name = "schemars_derive"
-version = "1.1.0"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "301858a4023d78debd2353c7426dc486001bddc91ae31a76fb1f55132f7e2633"
+checksum = "7d115b50f4aaeea07e79c1912f645c7513d81715d0420f8bc77a18c6260b307f"
 dependencies = [
  "proc-macro2",
  "quote",
  "serde_derive_internals",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -3302,11 +3390,11 @@ dependencies = [
 
 [[package]]
 name = "security-framework"
-version = "3.5.1"
+version = "3.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3297343eaf830f66ede390ea39da1d462b6b0c1b000f420d0a83f898bbbe6ef"
+checksum = "b7f4bc775c73d9a02cde8bf7b2ec4c9d12743edf609006c7facc23998404cd1d"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "core-foundation",
  "core-foundation-sys",
  "libc",
@@ -3315,9 +3403,9 @@ dependencies = [
 
 [[package]]
 name = "security-framework-sys"
-version = "2.15.0"
+version = "2.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cc1f0cbffaac4852523ce30d8bd3c5cdc873501d96ff467ca09b6767bb8cd5c0"
+checksum = "6ce2691df843ecc5d231c0b14ece2acc3efb62c0a398c7e1d875f3983ce020e3"
 dependencies = [
  "core-foundation-sys",
  "libc",
@@ -3375,7 +3463,7 @@ checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -3386,35 +3474,44 @@ checksum = "18d26a20a969b9e3fdf2fc2d9f21eda6c40e2de84c9408bb5d3b05d499aae711"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.145"
+version = "1.0.149"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "402a6f66d8c709116cf22f558eab210f5a50187f702eb4d7e5ef38d9a7f1c79c"
+checksum = "83fc039473c5595ace860d8c4fafa220ff474b3fc6bfdb4293327f1a37e94d86"
 dependencies = [
  "itoa",
  "memchr",
- "ryu",
  "serde",
  "serde_core",
+ "zmij",
+]
+
+[[package]]
+name = "serde_spanned"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8bbf91e5a4d6315eee45e704372590b30e260ee83af6639d64557f51b067776"
+dependencies = [
+ "serde_core",
 ]
 
 [[package]]
 name = "serde_with"
-version = "3.15.1"
+version = "3.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa66c845eee442168b2c8134fec70ac50dc20e760769c8ba0ad1319ca1959b04"
+checksum = "dd5414fad8e6907dbdd5bc441a50ae8d6e26151a03b1de04d89a5576de61d01f"
 dependencies = [
  "base64",
  "chrono",
  "hex",
  "indexmap 1.9.3",
- "indexmap 2.12.0",
+ "indexmap 2.13.0",
  "schemars 0.9.0",
- "schemars 1.1.0",
+ "schemars 1.2.1",
  "serde_core",
  "serde_json",
  "serde_with_macros",
@@ -3423,14 +3520,14 @@ dependencies = [
 
 [[package]]
 name = "serde_with_macros"
-version = "3.15.1"
+version = "3.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b91a903660542fced4e99881aa481bdbaec1634568ee02e0b8bd57c64cb38955"
+checksum = "d3db8978e608f1fe7357e211969fd9abdcae80bac1ba7a3369bb7eb6b404eb65"
 dependencies = [
- "darling 0.21.3",
+ "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -3439,7 +3536,7 @@ version = "0.9.34+deprecated"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6a8b1a1a2ebf674015cc02edccce75287f1a0130d394307b36743c2f5d504b47"
 dependencies = [
- "indexmap 2.12.0",
+ "indexmap 2.13.0",
  "itoa",
  "ryu",
  "serde",
@@ -3448,11 +3545,12 @@ dependencies = [
 
 [[package]]
 name = "serial_test"
-version = "3.2.0"
+version = "3.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1b258109f244e1d6891bf1053a55d63a5cd4f8f4c30cf9a1280989f80e7a1fa9"
+checksum = "911bd979bf1070a3f3aa7b691a3b3e9968f339ceeec89e08c280a8a22207a32f"
 dependencies = [
- "futures",
+ "futures-executor",
+ "futures-util",
  "log",
  "once_cell",
  "parking_lot",
@@ -3462,22 +3560,22 @@ dependencies = [
 
 [[package]]
 name = "serial_test_derive"
-version = "3.2.0"
+version = "3.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5d69265a08751de7844521fd15003ae0a888e035773ba05695c5c759a6f89eef"
+checksum = "0a7d91949b85b0d2fb687445e448b40d322b6b3e4af6b44a29b21d9a5f33e6d9"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "serialport"
-version = "4.7.3"
+version = "4.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2acaf3f973e8616d7ceac415f53fc60e190b2a686fbcf8d27d0256c741c5007b"
+checksum = "a4d91116f97173694f1642263b2ff837f80d933aa837e2314969f6728f661df3"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "cfg-if",
  "core-foundation",
  "core-foundation-sys",
@@ -3486,7 +3584,7 @@ dependencies = [
  "nix 0.26.4",
  "scopeguard",
  "unescaper",
- "winapi",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -3538,9 +3636,9 @@ dependencies = [
 
 [[package]]
 name = "shellexpand"
-version = "3.1.1"
+version = "3.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b1fdf65dd6331831494dd616b30351c38e96e45921a27745cf98490458b90bb"
+checksum = "32824fab5e16e6c4d86dc1ba84489390419a39f97699852b66480bb87d297ed8"
 dependencies = [
  "dirs",
 ]
@@ -3574,10 +3672,11 @@ dependencies = [
 
 [[package]]
 name = "signal-hook-registry"
-version = "1.4.6"
+version = "1.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b2a4719bff48cee6b39d12c020eeb490953ad2443b7055bd0b21fca26bd8c28b"
+checksum = "c4db69cba1110affc0e9f7bcd48bbf87b3f4fc7c61fc9155afd4c469eb3d6c1b"
 dependencies = [
+ "errno",
  "libc",
 ]
 
@@ -3605,15 +3704,15 @@ checksum = "bbbb5d9659141646ae647b42fe094daf6c6192d1620870b449d9557f748b2daa"
 
 [[package]]
 name = "siphasher"
-version = "1.0.1"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "56199f7ddabf13fe5074ce809e7d3f42b42ae711800501b5b16ea82ad029c39d"
+checksum = "b2aa850e253778c88a04c3d7323b043aeda9d3e30d5971937c1855769763678e"
 
 [[package]]
 name = "slab"
-version = "0.4.11"
+version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a2ae44ef20feb57a68b23d846850f861394c2e02dc425a50098ae8c90267589"
+checksum = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5"
 
 [[package]]
 name = "smallvec"
@@ -3629,7 +3728,7 @@ checksum = "0eb01866308440fc64d6c44d9e86c5cc17adfe33c4d6eed55da9145044d0ffc1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -3644,12 +3743,12 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.6.1"
+version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17129e116933cf371d018bb80ae557e889637989d8638274fb25622827b03881"
+checksum = "3a766e1110788c36f4fa1c2b71b387a7815aa65f88ce0229841826633d93723e"
 dependencies = [
  "libc",
- "windows-sys 0.60.2",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
@@ -3786,7 +3885,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "rustversion",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -3798,7 +3897,7 @@ dependencies = [
  "heck",
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -3820,9 +3919,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.110"
+version = "2.0.117"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a99801b5bd34ede4cf3fc688c5919368fea4e4814a4664359503e6015b280aea"
+checksum = "e665b8803e7b1d2a727f4023456bbbbe74da67099c585258af0ad9c5013b9b99"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3837,7 +3936,7 @@ checksum = "728a70f3dbaf5bab7f0c4b1ac8d7ae5ea60a4b5549c8a5914361c99147a709d2"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -3852,16 +3951,22 @@ version = "0.12.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "61c41af27dd6d1e27b1b16b489db798443478cef1f06a660c96db617ba5de3b1"
 
+[[package]]
+name = "target-triple"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "591ef38edfb78ca4771ee32cf494cb8771944bee237a9b91fc9c1424ac4b777b"
+
 [[package]]
 name = "tempfile"
-version = "3.23.0"
+version = "3.27.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2d31c77bdf42a745371d260a26ca7163f1e0924b64afa0b688e61b5a9fa02f16"
+checksum = "32497e9a4c7b38532efcdebeef879707aa9f794296a4f0244f6f69e9bc8574bd"
 dependencies = [
  "fastrand",
- "getrandom 0.3.4",
+ "getrandom 0.4.2",
  "once_cell",
- "rustix 1.1.2",
+ "rustix 1.1.4",
  "windows-sys 0.61.2",
 ]
 
@@ -3885,11 +3990,11 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "2.0.17"
+version = "2.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f63587ca0f12b72a0600bcba1d40081f830876000bb46dd2337a3051618f4fc8"
+checksum = "4288b5bcbc7920c07a1149a35cf9590a2aa808e0bc1eafaade0b80947865fbc4"
 dependencies = [
- "thiserror-impl 2.0.17",
+ "thiserror-impl 2.0.18",
 ]
 
 [[package]]
@@ -3900,18 +4005,18 @@ checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "2.0.17"
+version = "2.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
+checksum = "ebc4ee7f67670e9b64d05fa4253e753e016c6c95ff35b89b7941d6b856dec1d5"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -3920,7 +4025,7 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cfe075d7053dae61ac5413a34ea7d4913b6e6207844fd726bdd858b37ff72bf5"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.0",
  "cfg-if",
  "libc",
  "log",
@@ -3939,30 +4044,30 @@ dependencies = [
 
 [[package]]
 name = "time"
-version = "0.3.44"
+version = "0.3.47"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "91e7d9e3bb61134e77bde20dd4825b97c010155709965fedf0f49bb138e52a9d"
+checksum = "743bd48c283afc0388f9b8827b976905fb217ad9e647fae3a379a9283c4def2c"
 dependencies = [
  "deranged",
  "itoa",
  "num-conv",
  "powerfmt",
- "serde",
+ "serde_core",
  "time-core",
  "time-macros",
 ]
 
 [[package]]
 name = "time-core"
-version = "0.1.6"
+version = "0.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "40868e7c1d2f0b8d73e4a8c7f0ff63af4f6d19be117e90bd73eb1d62cf831c6b"
+checksum = "7694e1cfe791f8d31026952abf09c69ca6f6fa4e1a1229e18988f06a04a12dca"
 
 [[package]]
 name = "time-macros"
-version = "0.2.24"
+version = "0.2.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30cfb0125f12d9c277f35663a0a33f8c30190f4e4574868a330595412d34ebf3"
+checksum = "2e70e4c5a0e0a8a4823ad65dfe1a6930e4f4d756dcd9dd7939022b5e8c501215"
 dependencies = [
  "num-conv",
  "time-core",
@@ -3980,9 +4085,9 @@ dependencies = [
 
 [[package]]
 name = "tinyvec"
-version = "1.10.0"
+version = "1.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfa5fdc3bce6191a1dbc8c02d5c8bffcf557bafa17c124c5264a458f1b0613fa"
+checksum = "3e61e67053d25a4e82c844e8424039d9745781b3fc4f32b8d55ed50f5f667ef3"
 dependencies = [
  "tinyvec_macros",
 ]
@@ -3995,31 +4100,33 @@ checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
 [[package]]
 name = "tls-listener"
-version = "0.11.0"
+version = "0.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ab41256c16d6fc2b3021545f20bf77a73200b18bd54040ac656dddfca6205bfa"
+checksum = "1461056cc1ef47003f7ee16e4cef3741068d4c7f6b627bfce49b7c00c120a530"
 dependencies = [
  "futures-util",
  "pin-project-lite",
- "thiserror 2.0.17",
+ "thiserror 2.0.18",
  "tokio",
  "tokio-rustls",
 ]
 
 [[package]]
 name = "token-cell"
-version = "2.0.0"
+version = "2.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e9c7b0772e96c7fa6646b16c116753b3d1db503400209237230aa992c9e3a269"
+checksum = "fb48920ae769b58126c8c93269805011c793201f95fde28b479b81a9a531bbde"
 dependencies = [
  "paste",
+ "portable-atomic",
+ "rustversion",
 ]
 
 [[package]]
 name = "tokio"
-version = "1.48.0"
+version = "1.50.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff360e02eab121e0bc37a2d3b4d4dc622e6eda3a8e5253d5435ecf5bd4c68408"
+checksum = "27ad5e34374e03cfffefc301becb44e9dc3c17584f414349ebe29ed26661822d"
 dependencies = [
  "bytes",
  "libc",
@@ -4027,20 +4134,20 @@ dependencies = [
  "parking_lot",
  "pin-project-lite",
  "signal-hook-registry",
- "socket2 0.6.1",
+ "socket2 0.6.3",
  "tokio-macros",
  "windows-sys 0.61.2",
 ]
 
 [[package]]
 name = "tokio-macros"
-version = "2.6.0"
+version = "2.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af407857209536a95c8e56f8231ef2c2e2aff839b22e07a1ffcbc617e9db9fa5"
+checksum = "5c55a2eff8b69ce66c84f85e1da1c233edc36ceb85a2058d11b0d6a3c7e7569c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -4081,9 +4188,9 @@ dependencies = [
 
 [[package]]
 name = "tokio-util"
-version = "0.7.17"
+version = "0.7.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
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 dependencies = [
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  "futures-core",
@@ -4093,41 +4200,86 @@ dependencies = [
  "tokio",
 ]
 
+[[package]]
+name = "toml"
+version = "0.9.12+spec-1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cf92845e79fc2e2def6a5d828f0801e29a2f8acc037becc5ab08595c7d5e9863"
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+ "indexmap 2.13.0",
+ "serde_core",
+ "serde_spanned",
+ "toml_datetime 0.7.5+spec-1.1.0",
+ "toml_parser",
+ "toml_writer",
+ "winnow 0.7.15",
+]
+
+[[package]]
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+version = "1.0.7+spec-1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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+dependencies = [
+ "indexmap 2.13.0",
+ "serde_core",
+ "serde_spanned",
+ "toml_datetime 1.0.1+spec-1.1.0",
+ "toml_parser",
+ "toml_writer",
+ "winnow 1.0.0",
+]
+
 [[package]]
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+checksum = "92e1cfed4a3038bc5a127e35a2d360f145e1f4b971b551a2ba5fd7aedf7e1347"
+dependencies = [
+ "serde_core",
+]
+
+[[package]]
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-checksum = "f2cdb639ebbc97961c51720f858597f7f24c4fc295327923af55b74c3c724533"
+checksum = "9b320e741db58cac564e26c607d3cc1fdc4a88fd36c879568c07856ed83ff3e9"
 dependencies = [
  "serde_core",
 ]
 
 [[package]]
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-checksum = "6485ef6d0d9b5d0ec17244ff7eb05310113c3f316f2d14200d4de56b3cb98f8d"
+checksum = "8ca1a40644a28bce036923f6a431df0b34236949d111cc07cb6dca830c9ef2e1"
 dependencies = [
- "indexmap 2.12.0",
- "toml_datetime",
+ "indexmap 2.13.0",
+ "toml_datetime 1.0.1+spec-1.1.0",
  "toml_parser",
- "winnow",
+ "winnow 1.0.0",
 ]
 
 [[package]]
 name = "toml_parser"
-version = "1.0.4"
+version = "1.0.10+spec-1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0cbe268d35bdb4bb5a56a2de88d0ad0eb70af5384a99d648cd4b3d04039800e"
+checksum = "7df25b4befd31c4816df190124375d5a20c6b6921e2cad937316de3fccd63420"
 dependencies = [
- "winnow",
+ "winnow 1.0.0",
 ]
 
+[[package]]
+name = "toml_writer"
+version = "1.0.7+spec-1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f17aaa1c6e3dc22b1da4b6bba97d066e354c7945cac2f7852d4e4e7ca7a6b56d"
+
 [[package]]
 name = "tracing"
-version = "0.1.41"
+version = "0.1.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "784e0ac535deb450455cbfa28a6f0df145ea1bb7ae51b821cf5e7927fdcfbdd0"
+checksum = "63e71662fa4b2a2c3a26f570f037eb95bb1f85397f3cd8076caed2f026a6d100"
 dependencies = [
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  "pin-project-lite",
@@ -4137,25 +4289,35 @@ dependencies = [
 
 [[package]]
 name = "tracing-attributes"
-version = "0.1.30"
+version = "0.1.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81383ab64e72a7a8b8e13130c49e3dab29def6d0c7d76a03087b3cf71c5c6903"
+checksum = "7490cfa5ec963746568740651ac6781f701c9c5ea257c58e057f3ba8cf69e8da"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "tracing-core"
-version = "0.1.34"
+version = "0.1.36"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9d12581f227e93f094d3af2ae690a574abb8a2b9b7a96e7cfe9647b2b617678"
+checksum = "db97caf9d906fbde555dd62fa95ddba9eecfd14cb388e4f491a66d74cd5fb79a"
 dependencies = [
  "once_cell",
  "valuable",
 ]
 
+[[package]]
+name = "tracing-error"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b1581020d7a273442f5b45074a6a57d5757ad0a47dac0e9f0bd57b81936f3db"
+dependencies = [
+ "tracing",
+ "tracing-subscriber",
+]
+
 [[package]]
 name = "tracing-log"
 version = "0.2.0"
@@ -4179,9 +4341,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-subscriber"
-version = "0.3.20"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2054a14f5307d601f88daf0553e1cbf472acc4f2c51afab632431cdcd72124d5"
+checksum = "cb7f578e5945fb242538965c2d0b04418d38ec25c79d160cd279bf0731c8d319"
 dependencies = [
  "matchers",
  "nu-ansi-term",
@@ -4198,6 +4360,21 @@ dependencies = [
  "tracing-serde",
 ]
 
+[[package]]
+name = "trybuild"
+version = "1.0.116"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47c635f0191bd3a2941013e5062667100969f8c4e9cd787c14f977265d73616e"
+dependencies = [
+ "glob",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "target-triple",
+ "termcolor",
+ "toml 1.0.7+spec-1.1.0",
+]
+
 [[package]]
 name = "tungstenite"
 version = "0.24.0"
@@ -4262,18 +4439,18 @@ checksum = "eaea85b334db583fe3274d12b4cd1880032beab409c0d774be044d4480ab9a94"
 
 [[package]]
 name = "unescaper"
-version = "0.1.6"
+version = "0.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c01d12e3a56a4432a8b436f293c25f4808bdf9e9f9f98f9260bba1f1bc5a1f26"
+checksum = "4064ed685c487dbc25bd3f0e9548f2e34bab9d18cefc700f9ec2dba74ba1138e"
 dependencies = [
- "thiserror 2.0.17",
+ "thiserror 2.0.18",
 ]
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.22"
+version = "1.0.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9312f7c4f6ff9069b165498234ce8be658059c6728633667c526e27dc2cf1df5"
+checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
 
 [[package]]
 name = "unicode-segmentation"
@@ -4330,20 +4507,20 @@ checksum = "8ecb6da28b8a351d773b68d5825ac39017e680750f980f3a1a85cd8dd28a47c1"
 
 [[package]]
 name = "unzip-n"
-version = "0.1.2"
+version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2e7e85a0596447f0f2ac090e16bc4c516c6fe91771fb0c0ccf7fa3dae896b9c"
+checksum = "3b5bb2756c16fb66f80cfbf5fb0e0c09a7001e739f453c9ec241b9c8b1556fda"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "url"
-version = "2.5.7"
+version = "2.5.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08bc136a29a3d1758e07a9cca267be308aeebf5cfd5a10f3f67ab2097683ef5b"
+checksum = "ff67a8a4397373c3ef660812acab3268222035010ab8680ec4215f38ba3d0eed"
 dependencies = [
  "form_urlencoded",
  "idna",
@@ -4371,11 +4548,11 @@ checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
 
 [[package]]
 name = "uuid"
-version = "1.18.1"
+version = "1.22.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f87b8aa10b915a06587d0dec516c282ff295b475d94abf425d62b57710070a2"
+checksum = "a68d3c8f01c0cfa54a75291d83601161799e4a89a39e0929f4b0354d88757a37"
 dependencies = [
- "getrandom 0.3.4",
+ "getrandom 0.4.2",
  "js-sys",
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 ]
@@ -4400,7 +4577,7 @@ checksum = "8c44ce98e7227a04eeb4cf9c784109a5c9710e54849ceb4f09f8597247897f1e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
  "unzip-n",
 ]
 
@@ -4455,18 +4632,27 @@ checksum = "ccf3ec651a847eb01de73ccad15eb7d99f80485de043efb2f370cd654f4ea44b"
 
 [[package]]
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-version = "1.0.1+wasi-0.2.4"
+version = "1.0.2+wasi-0.2.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0562428422c63773dad2c345a1882263bbf4d65cf3f42e90921f787ef5ad58e7"
+checksum = "9517f9239f02c069db75e65f174b3da828fe5f5b945c4dd26bd25d89c03ebcf5"
+dependencies = [
+ "wit-bindgen",
+]
+
+[[package]]
+name = "wasip3"
+version = "0.4.0+wasi-0.3.0-rc-2026-01-06"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5428f8bf88ea5ddc08faddef2ac4a67e390b88186c703ce6dbd955e1c145aca5"
 dependencies = [
  "wit-bindgen",
 ]
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.105"
+version = "0.2.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da95793dfc411fbbd93f5be7715b0578ec61fe87cb1a42b12eb625caa5c5ea60"
+checksum = "6532f9a5c1ece3798cb1c2cfdba640b9b3ba884f5db45973a6f442510a87d38e"
 dependencies = [
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  "once_cell",
@@ -4477,9 +4663,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.105"
+version = "0.2.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "04264334509e04a7bf8690f2384ef5265f05143a4bff3889ab7a3269adab59c2"
+checksum = "18a2d50fcf105fb33bb15f00e7a77b772945a2ee45dcf454961fd843e74c18e6"
 dependencies = [
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  "wasm-bindgen-macro-support",
@@ -4487,26 +4673,60 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.105"
+version = "0.2.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "420bc339d9f322e562942d52e115d57e950d12d88983a14c79b86859ee6c7ebc"
+checksum = "03ce4caeaac547cdf713d280eda22a730824dd11e6b8c3ca9e42247b25c631e3"
 dependencies = [
  "bumpalo",
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.105"
+version = "0.2.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76f218a38c84bcb33c25ec7059b07847d465ce0e0a76b995e134a45adcb6af76"
+checksum = "75a326b8c223ee17883a4251907455a2431acc2791c98c26279376490c378c16"
 dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "wasm-encoder"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "990065f2fe63003fe337b932cfb5e3b80e0b4d0f5ff650e6985b1048f62c8319"
+dependencies = [
+ "leb128fmt",
+ "wasmparser",
+]
+
+[[package]]
+name = "wasm-metadata"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bb0e353e6a2fbdc176932bbaab493762eb1255a7900fe0fea1a2f96c296cc909"
+dependencies = [
+ "anyhow",
+ "indexmap 2.13.0",
+ "wasm-encoder",
+ "wasmparser",
+]
+
+[[package]]
+name = "wasmparser"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47b807c72e1bac69382b3a6fb3dbe8ea4c0ed87ff5629b8685ae6b9a611028fe"
+dependencies = [
+ "bitflags 2.11.0",
+ "hashbrown 0.15.5",
+ "indexmap 2.13.0",
+ "semver",
+]
+
 [[package]]
 name = "web-time"
 version = "1.1.0"
@@ -4519,18 +4739,18 @@ dependencies = [
 
 [[package]]
 name = "webpki-root-certs"
-version = "1.0.4"
+version = "1.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee3e3b5f5e80bc89f30ce8d0343bf4e5f12341c51f3e26cbeecbc7c85443e85b"
+checksum = "804f18a4ac2676ffb4e8b5b5fa9ae38af06df08162314f96a68d2a363e21a8ca"
 dependencies = [
  "rustls-pki-types",
 ]
 
 [[package]]
 name = "webpki-roots"
-version = "1.0.4"
+version = "1.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b2878ef029c47c6e8cf779119f20fcf52bde7ad42a731b2a304bc221df17571e"
+checksum = "22cfaf3c063993ff62e73cb4311efde4db1efb31ab78a3e5c457939ad5cc0bed"
 dependencies = [
  "rustls-pki-types",
 ]
@@ -4609,7 +4829,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -4620,7 +4840,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -4910,18 +5130,106 @@ checksum = "d6bbff5f0aada427a1e5a6da5f1f98158182f26556f345ac9e04d36d0ebed650"
 
 [[package]]
 name = "winnow"
-version = "0.7.13"
+version = "0.7.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "21a0236b59786fed61e2a80582dd500fe61f18b5dca67a4a067d0bc9039339cf"
+checksum = "df79d97927682d2fd8adb29682d1140b343be4ac0f08fd68b7765d9c059d3945"
+
+[[package]]
+name = "winnow"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a90e88e4667264a994d34e6d1ab2d26d398dcdca8b7f52bec8668957517fc7d8"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "wit-bindgen"
-version = "0.46.0"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7249219f66ced02969388cf2bb044a09756a083d0fab1e566056b04d9fbcaa5"
+dependencies = [
+ "wit-bindgen-rust-macro",
+]
+
+[[package]]
+name = "wit-bindgen-core"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ea61de684c3ea68cb082b7a88508a8b27fcc8b797d738bfc99a82facf1d752dc"
+dependencies = [
+ "anyhow",
+ "heck",
+ "wit-parser",
+]
+
+[[package]]
+name = "wit-bindgen-rust"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7c566e0f4b284dd6561c786d9cb0142da491f46a9fbed79ea69cdad5db17f21"
+dependencies = [
+ "anyhow",
+ "heck",
+ "indexmap 2.13.0",
+ "prettyplease",
+ "syn 2.0.117",
+ "wasm-metadata",
+ "wit-bindgen-core",
+ "wit-component",
+]
+
+[[package]]
+name = "wit-bindgen-rust-macro"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c0f9bfd77e6a48eccf51359e3ae77140a7f50b1e2ebfe62422d8afdaffab17a"
+dependencies = [
+ "anyhow",
+ "prettyplease",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.117",
+ "wit-bindgen-core",
+ "wit-bindgen-rust",
+]
+
+[[package]]
+name = "wit-component"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9d66ea20e9553b30172b5e831994e35fbde2d165325bec84fc43dbf6f4eb9cb2"
+dependencies = [
+ "anyhow",
+ "bitflags 2.11.0",
+ "indexmap 2.13.0",
+ "log",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "wasm-encoder",
+ "wasm-metadata",
+ "wasmparser",
+ "wit-parser",
+]
+
+[[package]]
+name = "wit-parser"
+version = "0.244.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f17a85883d4e6d00e8a97c586de764dabcc06133f7f1d55dce5cdc070ad7fe59"
+checksum = "ecc8ac4bc1dc3381b7f59c34f00b67e18f910c2c0f50015669dde7def656a736"
+dependencies = [
+ "anyhow",
+ "id-arena",
+ "indexmap 2.13.0",
+ "log",
+ "semver",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "unicode-xid",
+ "wasmparser",
+]
 
 [[package]]
 name = "writeable"
@@ -4931,9 +5239,9 @@ checksum = "9edde0db4769d2dc68579893f2306b26c6ecfbe0ef499b013d731b7b9247e0b9"
 
 [[package]]
 name = "x509-parser"
-version = "0.18.0"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb3e137310115a65136898d2079f003ce33331a6c4b0d51f1531d1be082b6425"
+checksum = "d43b0f71ce057da06bc0851b23ee24f3f86190b07203dd8f567d0b706a185202"
 dependencies = [
  "asn1-rs",
  "data-encoding",
@@ -4942,7 +5250,7 @@ dependencies = [
  "nom",
  "oid-registry",
  "rusticata-macros",
- "thiserror 2.0.17",
+ "thiserror 2.0.18",
  "time",
 ]
 
@@ -4965,7 +5273,7 @@ checksum = "b659052874eb698efe5b9e8cf382204678a0086ebf46982b79d6ca3182927e5d"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
  "synstructure",
 ]
 
@@ -4984,9 +5292,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f9ff8cb89f5267b8486a69466bc42f240f1ee2d5089e72395a23094e7b74f21"
+checksum = "7717b0e6a0a3463680b70e567496a7e26f10dbc2584fd79af922a530f596fcf0"
 dependencies = [
  "ahash",
  "arc-swap",
@@ -5002,10 +5310,9 @@ dependencies = [
  "lazy_static",
  "nonempty-collections",
  "once_cell",
- "petgraph 0.8.3",
+ "petgraph",
  "phf",
  "rand 0.8.5",
- "ref-cast",
  "rustc_version",
  "serde",
  "serde_json",
@@ -5037,18 +5344,18 @@ dependencies = [
 
 [[package]]
 name = "zenoh-buffers"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd9216c3d6c84b56f3e3be634e52365022038e1ac1b9f662f10d425cbf6c0fa8"
+checksum = "8bcbe41150794b2c49f6aa107e56a9a995cad538ea6a9cd20f1e127181330c55"
 dependencies = [
  "zenoh-collections",
 ]
 
 [[package]]
 name = "zenoh-codec"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14bc6747664aa9ecf17becd6e9a29282e535a350cd7c6bd8de7bf2dc662fb93d"
+checksum = "6c92a5f6928fb4d6d33ef34c1818266720885409521f9f3016d0e57f90abe9d1"
 dependencies = [
  "tracing",
  "uhlc",
@@ -5059,18 +5366,18 @@ dependencies = [
 
 [[package]]
 name = "zenoh-collections"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d642ecfe0d85f0cd846be9bc92805d926c092a6e6c7a575b6346752f8c3ae16"
+checksum = "fb87ed45b3cba05fdb53fddc0644ef4eaa1a6ed68e944f7d761b483c4571a0ce"
 dependencies = [
  "ahash",
 ]
 
 [[package]]
 name = "zenoh-config"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39765a5f9975aba204c99f2f65308db4952dbea8e5ac79c78ac1eaf5711e970a"
+checksum = "654d7a535f32d8bf5b1bfd0e21431a495d3ff60cfd2a7bc0f27172fa3caaa88e"
 dependencies = [
  "json5",
  "nonempty-collections",
@@ -5080,6 +5387,7 @@ dependencies = [
  "serde_json",
  "serde_with",
  "serde_yaml",
+ "toml 0.9.12+spec-1.1.0",
  "tracing",
  "uhlc",
  "validated_struct",
@@ -5093,9 +5401,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-core"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85c0c1388dccf287aec4e9d5e638630dc9d536db9f1da3522889b42697723b9b"
+checksum = "3f0fccee692fa37f7585f0b2d1b3153203ae6073293bc13fe0d5bc5dd12ca1fd"
 dependencies = [
  "lazy_static",
  "tokio",
@@ -5105,9 +5413,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-crypto"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b433e08df3b03f2af2d23bd29a32aa5f5522c52e66d63e3d135bfa66373736dd"
+checksum = "ae0e4d9b102043c6229f4a6d4e760ba96b10f02abef3bbd646f0ea431eec76e8"
 dependencies = [
  "aes",
  "hmac",
@@ -5119,9 +5427,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-ext"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fddc96d0b206af968465ca8497cd2f8bab9639bb028391f354b057fc9a1d6b0"
+checksum = "ba3e818887ffe081162471b46e77e9a188a2223ab78c59c72f3473397516375c"
 dependencies = [
  "async-trait",
  "bincode",
@@ -5139,15 +5447,15 @@ dependencies = [
 
 [[package]]
 name = "zenoh-keyexpr"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19a3c47c89cb55ea45a1b3fe7d1fe8682ea93530b1fc5245257812db14b55b3d"
+checksum = "5328ae37471ae54300a354107c625a864a8e8cd074ecaf9e6e9286f78d1dd021"
 dependencies = [
- "getrandom 0.2.16",
- "hashbrown 0.16.0",
+ "getrandom 0.2.17",
+ "hashbrown 0.16.1",
  "keyed-set",
  "rand 0.8.5",
- "schemars 1.1.0",
+ "schemars 1.2.1",
  "serde",
  "token-cell",
  "zenoh-result",
@@ -5155,9 +5463,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6218cecab58435f31fb8b2e185f74f35af8aedd96e8bdd3557b333206b1acfda"
+checksum = "80440bf41c90987e5b1c1b02f42ab475ba616d7115d180c26ef4cdeb3f6afe7a"
 dependencies = [
  "zenoh-config",
  "zenoh-link-commons",
@@ -5175,9 +5483,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-commons"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b98adc618f7edb570b9333ce583934a7c63e3a619cb49666515bfc06a000d7b6"
+checksum = "c6b104d459fa6e1abec12bce867ac845444b20b4e1a7f8ca8533b4c9edd2b00c"
 dependencies = [
  "async-trait",
  "base64",
@@ -5209,9 +5517,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-quic"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2d0c25d681db958b7714370d5e1d72a523129633d9262b098e18d44824d39893"
+checksum = "69e02852210b8ce8c93008e7e60f806e38eee8e57e0dcb362a9a8547ce308b97"
 dependencies = [
  "async-trait",
  "base64",
@@ -5235,9 +5543,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-quic_datagram"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30cfb427adbc8d367505b9a62a6614c9d7802e420f03466d98644bb7bf24516f"
+checksum = "2b5e7a2fc08ab6e5df126f23b7fa30a58bf80a7c7ca0b9f7b931c5b37168f031"
 dependencies = [
  "async-trait",
  "quinn",
@@ -5256,9 +5564,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-serial"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ee91f2e7f7ea44e10e3cdffcda728fcbfcd1d1f9111420164dbfab4c3872c28"
+checksum = "c4cabd8a16e1153ce4e9c85ebea74339e082c6fa4b74e1181942c13df89792bd"
 dependencies = [
  "async-trait",
  "tokio",
@@ -5275,9 +5583,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-tcp"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0f23bd5d06a0014ce5a205961d6d47c8e8d792d9fd050ae9d0c9b609a187995"
+checksum = "af351f5b66df749677f8fc6e6a1ee4c15f004439791540f38c737e7c5e764be1"
 dependencies = [
  "async-trait",
  "socket2 0.5.10",
@@ -5293,9 +5601,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-tls"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17544cde682dbcd2a712114786feee14295c28a9f66fc1021637355511e32fa9"
+checksum = "f36da0bed1d9a7231fac2bb0d86ee6b08e7239fe42b36d0e877c7c3dd858ec00"
 dependencies = [
  "async-trait",
  "base64",
@@ -5323,9 +5631,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-udp"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "587ca1de1caa0b444106d31c26801f4e87b354293d2d37afd8f70d9e793fe35e"
+checksum = "30c279cd4144cb2ab14eba32cab956c03869d7e02b088a8a9965c070f6512805"
 dependencies = [
  "async-trait",
  "libc",
@@ -5345,9 +5653,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-unixsock_stream"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac46470a17af5861e07ed9d2440277e7a3dea55109b0988866b635f7daf29ac4"
+checksum = "bf7c5144802d0fdda1123484a79d944265947e528ba0763784e05ae0bd40db40"
 dependencies = [
  "async-trait",
  "nix 0.29.0",
@@ -5364,9 +5672,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-ws"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e4be09c3e32d510cdddf3289bc333d53471883198fca51d58248458a20df3d51"
+checksum = "306c59fde40c46e3d7838ad628645eaf4cd3a76355b91e0e076628267fb98446"
 dependencies = [
  "async-trait",
  "futures-util",
@@ -5385,21 +5693,21 @@ dependencies = [
 
 [[package]]
 name = "zenoh-macros"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b760a458cd906ac888b37fd1abdb21a0f58ecc64cc3882f83a976cb5ca8e0632"
+checksum = "21523a418d0c52310ed9f3127099a40244040ea1dc3d420f5b4fa3178e27a8ba"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
  "zenoh-keyexpr",
 ]
 
 [[package]]
 name = "zenoh-plugin-trait"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7325b773c43a86a94f800cb971ab7e4b7e01ce76819c9c100ea783a47c3a25e4"
+checksum = "9f54cb62ce3d7b8c2261f091f7f0ba855780f70690e7e8238e2deb490cdf8260"
 dependencies = [
  "git-version",
  "libloading",
@@ -5415,9 +5723,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-protocol"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b4d3dad7aeeea780495692b195cd56515569c32b76b9dd077cc408c3ebca03f"
+checksum = "8688f5f4748123ac6e5950c51c281ba65ad444f4435624e1f93112d94f4809db"
 dependencies = [
  "const_format",
  "rand 0.8.5",
@@ -5425,23 +5733,24 @@ dependencies = [
  "uhlc",
  "zenoh-buffers",
  "zenoh-keyexpr",
+ "zenoh-macros",
  "zenoh-result",
 ]
 
 [[package]]
 name = "zenoh-result"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b4dbfea68b947a790d5525bcf061e91e2fdc2798bce619851919b353a8580fa"
+checksum = "a1f04e46152cf494d1bc3e35948fed82cf5e57e559e5f2c4ff4223d0984b537d"
 dependencies = [
  "anyhow",
 ]
 
 [[package]]
 name = "zenoh-runtime"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "760a1f7880f98427ad849d600257d1455a18afe981681f362684a3f91042537e"
+checksum = "63259ecef5e54b5875ffb4ac4aff6d31680cfac4c78cdc6f9a385f8f28fc5396"
 dependencies = [
  "lazy_static",
  "ron",
@@ -5454,9 +5763,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-shm"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "42184ae820d64d40814c0dd3b48f748c55a3ff5591c524f1bde36f21ccfda488"
+checksum = "d5905d7d5dcfb934e94d225aff5e01546c2ad5f38b577709416893968041066d"
 dependencies = [
  "advisory-lock",
  "async-trait",
@@ -5484,9 +5793,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-stats"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8954c79580ed3365580d86f40657f2cd6bf4b4c72dd463de936368df8c709c65"
+checksum = "03fd0409089a7630c6af81f8106979194b2e6c450fdcae36b62aeb14292aded8"
 dependencies = [
  "ahash",
  "prometheus-client",
@@ -5498,9 +5807,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-sync"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "98f132137bb003f10b7fff086cb18addf8e8273b9c0d2722a53b5074c8a79965"
+checksum = "17ba3547e15ebfe1799d84b5e6861502f026b967508601f4f344b1edfc42d946"
 dependencies = [
  "arc-swap",
  "event-listener",
@@ -5513,9 +5822,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-task"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1b17d10136fdabec7e21a3fcef568c210ee6a2d71cde6adcde99e9236584f3a1"
+checksum = "b888098524b4ed57978e899f35d16250cf7805bbcc962312be7e1d5d60c1dcf4"
 dependencies = [
  "futures",
  "tokio",
@@ -5527,9 +5836,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-transport"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "50739b4c45e0963df8377abddb74701a4b708b178590eae92f27a604e25daf44"
+checksum = "a7c32b85396519616c4088ca973fa5ec4f798fdd49aa203b3bb2b60e468cd587"
 dependencies = [
  "async-trait",
  "crossbeam-utils",
@@ -5563,9 +5872,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-util"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9512987c13925d32d3331507c8807853d5b682ea8da94d0ba6534c7a8ace48aa"
+checksum = "1b3ee5dc455e67c571bd0d6177a5da0e744fdd544817799cc7d7d83adea94172"
 dependencies = [
  "async-trait",
  "const_format",
@@ -5576,7 +5885,7 @@ dependencies = [
  "libc",
  "libloading",
  "pnet_datalink",
- "schemars 1.1.0",
+ "schemars 1.2.1",
  "serde",
  "serde_json",
  "shellexpand",
@@ -5590,22 +5899,22 @@ dependencies = [
 
 [[package]]
 name = "zerocopy"
-version = "0.8.27"
+version = "0.8.42"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0894878a5fa3edfd6da3f88c4805f4c8558e2b996227a3d864f47fe11e38282c"
+checksum = "f2578b716f8a7a858b7f02d5bd870c14bf4ddbbcf3a4c05414ba6503640505e3"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.8.27"
+version = "0.8.42"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
+checksum = "7e6cc098ea4d3bd6246687de65af3f920c430e236bee1e3bf2e441463f08a02f"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -5625,7 +5934,7 @@ checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
  "synstructure",
 ]
 
@@ -5665,5 +5974,11 @@ checksum = "eadce39539ca5cb3985590102671f2567e659fca9666581ad3411d59207951f3"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.110",
+ "syn 2.0.117",
 ]
+
+[[package]]
+name = "zmij"
+version = "1.0.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b8848ee67ecc8aedbaf3e4122217aff892639231befc6a1b58d29fff4c2cabaa"
diff --git a/Cargo.toml b/Cargo.toml
index 8b43227a..7c39fe4c 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -18,6 +18,7 @@ members = [
   "crates/ros-z-msgs",
   "crates/ros-z-tests",
   "crates/ros-z-console",
+  "crates/ros-z-cli",
   "crates/ros-z-bridge",
   "crates/ros-z/examples/protobuf_demo",
 ]
diff --git a/book/src/chapters/custom_messages.md b/book/src/chapters/custom_messages.md
index 12fa9f45..b15fba89 100644
--- a/book/src/chapters/custom_messages.md
+++ b/book/src/chapters/custom_messages.md
@@ -2,10 +2,10 @@
 
 ros-z supports two approaches for defining custom message types:
 
-| Approach | Definition | Best For |
-|----------|------------|----------|
-| **Rust-Native** | Write Rust structs directly | Prototyping, ros-z-only systems |
-| **Schema-Generated** | Write `.msg`/`.srv` files, generate Rust | Production, ROS 2 interop |
+| Approach             | Definition                               | Best For                        |
+| -------------------- | ---------------------------------------- | ------------------------------- |
+| **Rust-Native**      | Write Rust structs directly              | Prototyping, ros-z-only systems |
+| **Schema-Generated** | Write `.msg`/`.srv` files, generate Rust | Production, ROS 2 interop       |
 
 ```mermaid
 flowchart TD
@@ -21,38 +21,38 @@ flowchart TD
 
 ## Rust-Native Messages
 
-**Define messages directly in Rust by implementing required traits.** This approach is fast for prototyping but only works between ros-z nodes.
+**Define messages directly in Rust and derive their schema metadata.** This approach is fast for prototyping, and plain named structs can still participate in the standard ROS 2 type description service.
 
 ```admonish warning
-Rust-Native messages use `TypeHash::zero()` and won't interoperate with ROS 2 C++/Python nodes.
+Rust-native messages defined with `#[derive(MessageTypeInfo)]` are limited to ROS 2 schema-compatible shapes. If you need `Option<T>`, enums, or other ros-z-only schema extensions, use `#[derive(ExtendedMessageTypeInfo)]` plus the parallel extended type description service instead of the standard ROS 2 type description service.
 ```
 
 ### Workflow of Rust-Native Messages
 
 ```mermaid
 graph LR
-    A[Define Struct] --> B[Impl MessageTypeInfo]
+    A[Define Struct] --> B[Derive MessageTypeInfo]
     B --> C[Add Serde Traits]
-    C --> D[Impl WithTypeInfo]
+    C --> D[Impl ZMessage]
     D --> E[Use in Pub/Sub]
 ```
 
 ### Required Traits
 
-| Trait | Purpose | Key Method |
-|-------|---------|------------|
-| **MessageTypeInfo** | Type identification | `type_name()`, `type_hash()` |
-| **WithTypeInfo** | ros-z integration | `type_info()` |
-| **Serialize/Deserialize** | Data encoding | From `serde` |
+| Trait                     | Purpose                              | Key Method                                       |
+| ------------------------- | ------------------------------------ | ------------------------------------------------ |
+| **MessageTypeInfo**       | Type identification + runtime schema | `type_name()`, `type_hash()`, `message_schema()` |
+| **Serialize/Deserialize** | Data encoding                        | From `serde`                                     |
+| **ZMessage**              | ros-z serialization path             | `type Serdes = SerdeCdrSerdes<Self>`             |
 
 ### Message Example
 
 ```rust,ignore
-use ros_z::{MessageTypeInfo, entity::TypeHash};
-use ros_z::ros_msg::WithTypeInfo;
+use ros_z::MessageTypeInfo;
 use serde::{Serialize, Deserialize};
 
-#[derive(Debug, Clone, Serialize, Deserialize)]
+#[derive(Debug, Clone, Serialize, Deserialize, MessageTypeInfo)]
+#[ros_msg(type_name = "my_msgs/msg/RobotStatus")]
 struct RobotStatus {
     battery_level: f32,
     position_x: f32,
@@ -60,19 +60,21 @@ struct RobotStatus {
     is_moving: bool,
 }
 
-impl MessageTypeInfo for RobotStatus {
-    fn type_name() -> &'static str {
-        "my_msgs::msg::dds_::RobotStatus_"
-    }
-
-    fn type_hash() -> TypeHash {
-        TypeHash::zero()  // ros-z-to-ros-z only
-    }
+impl ros_z::msg::ZMessage for RobotStatus {
+    type Serdes = ros_z::msg::SerdeCdrSerdes<Self>;
 }
-
-impl WithTypeInfo for RobotStatus {}
 ```
 
+`MessageTypeInfo` derive in core `ros-z` intentionally supports only ROS 2 schema-compatible named
+structs: primitive numeric/bool types, `String`, `Vec<T>`, fixed arrays `[T; N]`, and nested
+message types. Tuple structs, unit structs, enums, `Option<T>`, maps, `usize`, `isize`, and other
+Rust-only shapes are rejected at compile time.
+
+For richer serde shapes such as `Option<T>` or enums, use `ros_z::ExtendedMessageTypeInfo`.
+It keeps normal `message_schema()` support for types that are still ROS 2 compatible, and uses a
+separate `~get_extended_type_description` service for extended-only schemas when the publisher node
+is created with `.with_extended_type_description_service()`.
+
 ### Service Example
 
 ```rust,ignore
@@ -105,6 +107,9 @@ impl ZService for NavigateTo {
 
 See the `z_custom_message` example:
 
+When a publisher node enables the type description service, derived custom message types
+automatically register their runtime schema so dynamic subscribers can discover them.
+
 ```bash
 # Terminal 1: Router
 cargo run --example zenoh_router
@@ -272,14 +277,14 @@ ROS_Z_MSG_PATH="./my_robot_msgs" cargo build
 
 ## Comparison
 
-| Feature | Rust-Native | Schema-Generated |
-|---------|-------------|------------------|
-| **Definition** | Rust structs | `.msg`/`.srv` files |
-| **Type Hashes** | `TypeHash::zero()` | Proper RIHS01 hashes |
-| **Standard Type Refs** | Manual | Automatic (`geometry_msgs`, etc.) |
-| **ROS 2 Interop** | No | Partial (messages yes, services limited) |
-| **Setup Complexity** | Low | Medium (build.rs required) |
-| **Best For** | Prototyping | Production |
+| Feature                | Rust-Native        | Schema-Generated                         |
+| ---------------------- | ------------------ | ---------------------------------------- |
+| **Definition**         | Rust structs       | `.msg`/`.srv` files                      |
+| **Type Hashes**        | `TypeHash::zero()` | Proper RIHS01 hashes                     |
+| **Standard Type Refs** | Manual             | Automatic (`geometry_msgs`, etc.)        |
+| **ROS 2 Interop**      | No                 | Partial (messages yes, services limited) |
+| **Setup Complexity**   | Low                | Medium (build.rs required)               |
+| **Best For**           | Prototyping        | Production                               |
 
 ---
 
diff --git a/book/src/chapters/keyexpr_formats.md b/book/src/chapters/keyexpr_formats.md
index 6ad35746..dabe5441 100644
--- a/book/src/chapters/keyexpr_formats.md
+++ b/book/src/chapters/keyexpr_formats.md
@@ -62,6 +62,12 @@ robot/sensors/camera/**       # Topic /robot/sensors/camera
 - Using `zenoh-bridge-ros2dds`
 - Integrating with CycloneDDS or FastDDS nodes via Zenoh
 
+**Discovery consequences:**
+
+- `Ros2Dds` graph discovery can identify publishers/subscribers/services by topic or service name, but its liveliness data does not provide publisher node identity.
+- Topic-based graph helpers such as publisher/subscriber matching work with `Ros2Dds`.
+- Node-based discovery and automatic schema discovery via `create_dyn_sub_auto()` are not supported with `Ros2Dds`, because the publishing node cannot be identified from discovery data.
+
 ## Key Expression Behavior (IMPORTANT)
 
 Understanding how topic names are converted to key expressions is critical for debugging:
diff --git a/crates/rmw-zenoh-rs/src/rmw.rs b/crates/rmw-zenoh-rs/src/rmw.rs
index 200e2c6d..e62f6247 100644
--- a/crates/rmw-zenoh-rs/src/rmw.rs
+++ b/crates/rmw-zenoh-rs/src/rmw.rs
@@ -1271,6 +1271,7 @@ pub extern "C" fn rmw_create_service(
 
     let service_impl = crate::service::ServiceImpl {
         inner: zserver,
+        pending: std::collections::HashMap::new(),
         service_name: service_name_cstr,
         request_ts: service_type_support,
         response_ts: service_type_support,
diff --git a/crates/rmw-zenoh-rs/src/service.rs b/crates/rmw-zenoh-rs/src/service.rs
index 10cfa98b..d948d81c 100644
--- a/crates/rmw-zenoh-rs/src/service.rs
+++ b/crates/rmw-zenoh-rs/src/service.rs
@@ -1,3 +1,4 @@
+use std::collections::HashMap;
 use std::ffi::CString;
 use std::sync::Mutex;
 use std::sync::atomic::{AtomicI64, Ordering};
@@ -89,15 +90,11 @@ impl ClientImpl {
 
         tracing::debug!(
             "[ClientImpl::take_response] Attempting to take response, rx has {} items",
-            if self.inner.rx().is_empty() {
-                0
-            } else {
-                self.inner.rx().len()
-            }
+            if self.inner.rmw_has_responses() { 1 } else { 0 }
         );
 
         // Try to receive a response
-        if let Ok(sample) = self.inner.rx().try_recv() {
+        if let Some(sample) = self.inner.rmw_try_take_response_sample()? {
             tracing::debug!("[ClientImpl::take_response] Got response sample");
 
             let payload = sample.payload();
@@ -172,6 +169,8 @@ impl ClientImpl {
 /// Service implementation for RMW
 pub struct ServiceImpl {
     pub inner: ros_z::service::ZServer<crate::msg::RosService>,
+    pub pending:
+        HashMap<ros_z::service::RequestId, ros_z::service::ServiceReply<crate::msg::RosService>>,
     pub service_name: CString,
     pub request_ts: crate::type_support::ServiceTypeSupport,
     pub response_ts: crate::type_support::ServiceTypeSupport,
@@ -195,69 +194,23 @@ impl ServiceImpl {
             *taken = false;
         }
 
-        // Try to receive a request from the raw receiver
-        if let Some(query) = self.inner.try_queue().and_then(|q| q.try_recv()) {
-            // Get the payload bytes
-            let bytes = if let Some(payload) = query.payload() {
-                payload.to_bytes().to_vec()
-            } else {
-                return Ok(());
-            };
-
-            // Extract attachment from query to get GID, sequence number, and timestamp
-            let key = if let Some(attachment_bytes) = query.attachment() {
-                match ros_z::attachment::Attachment::try_from(attachment_bytes) {
-                    Ok(attachment) => {
-                        let key: ros_z::service::QueryKey = attachment.into();
-                        tracing::debug!(
-                            "[ServiceImpl::take_request] Got request with sn: {}, gid: {:?}",
-                            key.sn,
-                            key.gid
-                        );
-                        key
-                    }
-                    Err(e) => {
-                        tracing::warn!("Failed to extract attachment from query: {}", e);
-                        // Fallback to placeholder
-                        ros_z::service::QueryKey {
-                            gid: [0u8; 16],
-                            sn: 0i64,
-                        }
-                    }
-                }
-            } else {
-                tracing::warn!("No attachment in query, using placeholder QueryKey");
-                ros_z::service::QueryKey {
-                    gid: [0u8; 16],
-                    sn: 0i64,
-                }
-            };
-
-            // Extract timestamp from attachment
-            let source_timestamp = if let Some(attachment_bytes) = query.attachment() {
-                match ros_z::attachment::Attachment::try_from(attachment_bytes) {
-                    Ok(attachment) => attachment.source_timestamp,
-                    Err(_) => 0,
-                }
-            } else {
-                0
-            };
+        if let Some(request_ctx) = self.inner.try_take_request()? {
+            let request_id = request_ctx.id().clone();
+            let source_timestamp = 0;
+            let (request_msg, reply) = request_ctx.into_parts();
+            let bytes = request_msg.0;
 
             // Set received_timestamp to current time
             let received_timestamp = std::time::SystemTime::now()
                 .duration_since(std::time::UNIX_EPOCH)
                 .map_or(0, |v| v.as_nanos() as i64);
 
-            // Store the query for later response
+            // Store the reply context for later response
             tracing::debug!(
-                "[ServiceImpl::take_request] Storing query with key sn:{}, inserting into map",
-                key.sn
-            );
-            self.inner.map_insert(key.clone(), query);
-            tracing::debug!(
-                "[ServiceImpl::take_request] Map now has {} entries",
-                self.inner.map_len()
+                "[ServiceImpl::take_request] Storing reply context with sn:{}",
+                request_id.sequence_number
             );
+            self.pending.insert(request_id.clone(), reply);
 
             // Deserialize into the provided request buffer using request MessageTypeSupport
             unsafe {
@@ -269,9 +222,8 @@ impl ServiceImpl {
             // Fill request_header with sequence info and timestamps
             if !request_header.is_null() {
                 unsafe {
-                    (*request_header).request_id.sequence_number = key.sn;
-                    // Copy GID from key
-                    for (i, &byte) in key.gid.iter().enumerate() {
+                    (*request_header).request_id.sequence_number = request_id.sequence_number;
+                    for (i, &byte) in request_id.writer_guid.iter().enumerate() {
                         if i < 16 {
                             (*request_header).request_id.writer_guid[i] = byte;
                         }
@@ -293,42 +245,39 @@ impl ServiceImpl {
         request_header: *const rmw_request_id_t,
         response: *const c_void,
     ) -> Result<()> {
-        // Extract QueryKey from request_header
-        let key = unsafe {
+        let request_id = unsafe {
             let mut gid = [0u8; 16];
             gid.copy_from_slice(&(*request_header).writer_guid);
-            ros_z::service::QueryKey {
-                gid,
-                sn: (*request_header).sequence_number,
+            ros_z::service::RequestId {
+                writer_guid: gid,
+                sequence_number: (*request_header).sequence_number,
             }
         };
 
         tracing::debug!(
             "[ServiceImpl::send_response] Sending response for key sn:{}, gid:{:?}",
-            key.sn,
-            key.gid
-        );
-        tracing::debug!(
-            "[ServiceImpl::send_response] Map has {} entries before send_response",
-            self.inner.map_len()
+            request_id.sequence_number,
+            request_id.writer_guid
         );
 
         // Create RosMessage Response from the raw pointer using response MessageTypeSupport
         let resp = crate::msg::RosMessage::new(response, self.response_ts.response);
 
-        // Send response
-        match self.inner.send_response(&resp, &key) {
-            Ok(_) => {
-                tracing::debug!("[ServiceImpl::send_response] Response sent successfully");
-                Ok(())
-            }
-            Err(e) => {
-                tracing::error!(
-                    "[ServiceImpl::send_response] Failed to send response: {}",
-                    e
-                );
-                Err(e)
-            }
+        match self.pending.remove(&request_id) {
+            Some(reply) => match reply.reply_blocking(&resp) {
+                Ok(_) => {
+                    tracing::debug!("[ServiceImpl::send_response] Response sent successfully");
+                    Ok(())
+                }
+                Err(e) => {
+                    tracing::error!(
+                        "[ServiceImpl::send_response] Failed to send response: {}",
+                        e
+                    );
+                    Err(e)
+                }
+            },
+            None => Err(zenoh::Error::from("Pending request not found")),
         }
     }
 }
@@ -337,7 +286,7 @@ impl Waitable for ClientImpl {
     fn is_ready(&self) -> bool {
         // Acquire fence to ensure we see the latest channel state from other threads
         std::sync::atomic::fence(std::sync::atomic::Ordering::Acquire);
-        !self.inner.rx().is_empty()
+        self.inner.rmw_has_responses()
     }
 }
 
diff --git a/crates/ros-z-bridge/src/bridge.rs b/crates/ros-z-bridge/src/bridge.rs
index dc4b7515..084e8f05 100644
--- a/crates/ros-z-bridge/src/bridge.rs
+++ b/crates/ros-z-bridge/src/bridge.rs
@@ -206,7 +206,7 @@ impl Bridge {
         let key = BridgeKey {
             topic: ep.topic.clone(),
             type_name: type_info.name.clone(),
-            kind: ep.kind,
+            kind: ep.kind.into(),
         };
 
         if event.appeared {
diff --git a/crates/ros-z-bridge/src/discovery.rs b/crates/ros-z-bridge/src/discovery.rs
index 55e3c285..ff1e1e1c 100644
--- a/crates/ros-z-bridge/src/discovery.rs
+++ b/crates/ros-z-bridge/src/discovery.rs
@@ -135,22 +135,22 @@ pub fn start_discovery(
 mod tests {
     use super::*;
     use ros_z_protocol::{
-        EntityKind, TypeHash, TypeInfo,
+        EndpointKind, TypeHash, TypeInfo,
         entity::{EndpointEntity, NodeEntity},
     };
 
     fn make_endpoint(hash: TypeHash) -> Entity {
         Entity::Endpoint(EndpointEntity {
             id: 1,
-            node: NodeEntity {
+            node: Some(NodeEntity {
                 domain_id: 0,
                 z_id: "1234567890abcdef1234567890abcdef".parse().unwrap(),
                 id: 0,
                 name: "test_node".to_string(),
                 namespace: "/".to_string(),
                 enclave: String::new(),
-            },
-            kind: EntityKind::Publisher,
+            }),
+            kind: EndpointKind::Publisher,
             topic: "/chatter".to_string(),
             type_info: Some(TypeInfo::new("std_msgs::msg::dds_::String_", hash)),
             qos: Default::default(),
@@ -187,15 +187,15 @@ mod tests {
     fn classify_endpoint_no_type_info_returns_none() {
         let entity = Entity::Endpoint(EndpointEntity {
             id: 2,
-            node: NodeEntity {
+            node: Some(NodeEntity {
                 domain_id: 0,
                 z_id: "1234567890abcdef1234567890abcdef".parse().unwrap(),
                 id: 0,
                 name: "no_type_node".to_string(),
                 namespace: "/".to_string(),
                 enclave: String::new(),
-            },
-            kind: EntityKind::Publisher,
+            }),
+            kind: EndpointKind::Publisher,
             topic: "/anon".to_string(),
             type_info: None,
             qos: Default::default(),
diff --git a/crates/ros-z-bridge/src/forwarder.rs b/crates/ros-z-bridge/src/forwarder.rs
index ec10ef46..92afb44d 100644
--- a/crates/ros-z-bridge/src/forwarder.rs
+++ b/crates/ros-z-bridge/src/forwarder.rs
@@ -97,7 +97,7 @@ pub fn start_service_forwarder(
                 let target_ke = target_ke_arc.clone();
                 let proxy_ke_log = proxy_ke_log.clone();
                 // Extract payload and attachment from the query.
-                // The attachment carries the QueryKey (sequence number, writer GUID)
+                // The attachment carries the request identity (sequence number, writer GUID)
                 // required by ros-z service.rs — it must be forwarded verbatim.
                 let payload: Option<ZBytes> = query.payload().cloned();
                 let attachment: Option<ZBytes> = query.attachment().cloned();
diff --git a/crates/ros-z-cli/Cargo.toml b/crates/ros-z-cli/Cargo.toml
new file mode 100644
index 00000000..dcb8cfd0
--- /dev/null
+++ b/crates/ros-z-cli/Cargo.toml
@@ -0,0 +1,19 @@
+[package]
+name = "ros-z-cli"
+version = "0.1.0"
+edition = "2024"
+description = "Scriptable command-line companion to ros-z"
+homepage = "https://github.com/ZettaScaleLabs/ros-z"
+
+[[bin]]
+name = "rosz"
+path = "src/main.rs"
+
+[dependencies]
+clap = { workspace = true, features = ["derive"] }
+color-eyre = "0.6"
+ros-z = { path = "../ros-z", features = ["ros2dds"] }
+ros-z-protocol = { path = "../ros-z-protocol", features = ["ros2dds"] }
+serde = { workspace = true, features = ["derive"] }
+serde_json = { workspace = true }
+tokio = { workspace = true, features = ["macros", "rt-multi-thread", "time"] }
diff --git a/crates/ros-z-cli/src/app/context.rs b/crates/ros-z-cli/src/app/context.rs
new file mode 100644
index 00000000..841339e1
--- /dev/null
+++ b/crates/ros-z-cli/src/app/context.rs
@@ -0,0 +1,120 @@
+use std::{
+    sync::Arc,
+    time::{Duration, Instant},
+};
+
+use color_eyre::eyre::{Result, WrapErr, eyre};
+use ros_z::{
+    Builder,
+    context::{ZContext, ZContextBuilder},
+    dynamic::DynSubBuilder,
+    graph::GraphSnapshot,
+    node::ZNode,
+    parameter::{ParameterClient, ParameterTarget},
+};
+
+use crate::{
+    cli::Backend,
+    support::{display_error, graph::SnapshotFingerprint},
+};
+
+const GRAPH_POLL_INTERVAL: Duration = Duration::from_millis(200);
+const GRAPH_SETTLE_TIMEOUT: Duration = Duration::from_secs(2);
+
+pub struct AppContext {
+    context: ZContext,
+    node: Arc<ZNode>,
+    domain_id: usize,
+}
+
+impl AppContext {
+    pub fn new(router: &str, domain_id: usize, backend: Backend) -> Result<Self> {
+        let keyexpr_format = match backend {
+            Backend::RmwZenoh => ros_z_protocol::KeyExprFormat::RmwZenoh,
+            Backend::Ros2Dds => ros_z_protocol::KeyExprFormat::Ros2Dds,
+        };
+
+        let context = ZContextBuilder::default()
+            .with_mode("peer")
+            .with_connect_endpoints([router])
+            .with_domain_id(domain_id)
+            .keyexpr_format(keyexpr_format)
+            .build()
+            .map_err(|error| eyre!(error))
+            .wrap_err("failed to build ros-z context")?;
+        let node = Arc::new(
+            context
+                .create_node("rosz")
+                .with_type_description_service()
+                .build()
+                .map_err(|error| eyre!(error))
+                .wrap_err("failed to build rosz node")?,
+        );
+
+        Ok(Self {
+            context,
+            node,
+            domain_id,
+        })
+    }
+
+    pub fn graph(&self) -> &ros_z::graph::Graph {
+        self.context.graph().as_ref()
+    }
+
+    pub fn snapshot(&self) -> GraphSnapshot {
+        self.graph().snapshot(self.domain_id)
+    }
+
+    pub async fn wait_for_graph_settle(&self) {
+        let deadline = Instant::now() + GRAPH_SETTLE_TIMEOUT;
+        let mut previous = SnapshotFingerprint::from(&self.snapshot());
+
+        while Instant::now() < deadline {
+            tokio::time::sleep(GRAPH_POLL_INTERVAL).await;
+
+            let current_snapshot = self.snapshot();
+            let current = SnapshotFingerprint::from(&current_snapshot);
+            if current == previous {
+                return;
+            }
+            previous = current;
+        }
+    }
+
+    pub async fn wait_for_graph_condition<F>(&self, predicate: F)
+    where
+        F: Fn(&ros_z::graph::Graph) -> bool,
+    {
+        let deadline = Instant::now() + GRAPH_SETTLE_TIMEOUT;
+
+        while Instant::now() < deadline {
+            if predicate(self.graph()) {
+                return;
+            }
+            tokio::time::sleep(GRAPH_POLL_INTERVAL).await;
+        }
+    }
+
+    pub async fn create_dynamic_subscriber_builder(
+        &self,
+        topic: &str,
+        discovery_timeout: Duration,
+    ) -> Result<DynSubBuilder> {
+        self.node
+            .create_dyn_sub_auto(topic, discovery_timeout)
+            .await
+            .map_err(|error| eyre!(error))
+    }
+
+    pub fn parameter_client(&self, target: ParameterTarget) -> Result<ParameterClient> {
+        ParameterClient::new(Arc::clone(&self.node), target).map_err(display_error)
+    }
+
+    pub fn shutdown(&self) -> Result<()> {
+        self.context
+            .shutdown()
+            .map_err(|error| eyre!(error))
+            .wrap_err("failed to close ros-z context")
+    }
+}
diff --git a/crates/ros-z-cli/src/app/mod.rs b/crates/ros-z-cli/src/app/mod.rs
new file mode 100644
index 00000000..0385265c
--- /dev/null
+++ b/crates/ros-z-cli/src/app/mod.rs
@@ -0,0 +1,3 @@
+pub mod context;
+
+pub use context::AppContext;
diff --git a/crates/ros-z-cli/src/cli.rs b/crates/ros-z-cli/src/cli.rs
new file mode 100644
index 00000000..08ca7e84
--- /dev/null
+++ b/crates/ros-z-cli/src/cli.rs
@@ -0,0 +1,215 @@
+use clap::{Parser, Subcommand, ValueEnum};
+
+#[derive(Debug, Clone, Copy, ValueEnum, PartialEq, Eq, Default)]
+pub enum Backend {
+    #[default]
+    RmwZenoh,
+    #[value(name = "ros2dds")]
+    Ros2Dds,
+}
+
+#[derive(Debug, Clone, Copy, ValueEnum, PartialEq, Eq)]
+pub enum ListTarget {
+    Topics,
+    Nodes,
+    Services,
+}
+
+#[derive(Debug, Clone, Copy, ValueEnum, PartialEq, Eq)]
+pub enum InfoTarget {
+    Topic,
+    Service,
+    Node,
+}
+
+#[derive(Debug, Clone, Copy, ValueEnum, PartialEq, Eq)]
+pub enum ParameterValueTypeArg {
+    Bool,
+    Integer,
+    Double,
+    String,
+    ByteArray,
+    BoolArray,
+    IntegerArray,
+    DoubleArray,
+    StringArray,
+    NotSet,
+}
+
+#[derive(Debug, Parser)]
+#[command(name = "rosz")]
+#[command(about = "Scriptable command-line companion to ros-z")]
+pub struct Cli {
+    /// Zenoh router address
+    #[arg(long, default_value = "tcp/127.0.0.1:7447", global = true)]
+    pub router: String,
+
+    /// ROS domain ID
+    #[arg(long, default_value_t = 0, global = true)]
+    pub domain: usize,
+
+    /// Backend selection (rmw-zenoh or ros2dds)
+    #[arg(long, value_enum, default_value = "rmw-zenoh", global = true)]
+    pub backend: Backend,
+
+    /// Emit JSON output when supported
+    #[arg(long, global = true)]
+    pub json: bool,
+
+    #[command(subcommand)]
+    pub command: Command,
+}
+
+#[derive(Debug, Subcommand)]
+pub enum Command {
+    /// List graph entities
+    List {
+        #[arg(value_enum)]
+        target: ListTarget,
+    },
+    /// Watch graph changes continuously
+    Watch,
+    /// Show the full graph snapshot
+    Graph,
+    /// Dynamically inspect a topic's messages
+    Echo {
+        topic: String,
+        #[arg(long)]
+        count: Option<usize>,
+        #[arg(long)]
+        timeout: Option<f64>,
+    },
+    /// Show metadata for a topic, service, or node
+    Info {
+        #[arg(value_enum)]
+        target: InfoTarget,
+        name: String,
+    },
+    /// Remote parameter operations
+    Param {
+        #[command(subcommand)]
+        command: ParamCommand,
+    },
+}
+
+#[derive(Debug, Subcommand)]
+pub enum ParamCommand {
+    /// List parameters on a node
+    List {
+        #[arg(long)]
+        node: String,
+        #[arg(long)]
+        prefix: Vec<String>,
+        #[arg(long)]
+        depth: Option<u64>,
+    },
+    /// Get a parameter from a node
+    Get {
+        name: String,
+        #[arg(long)]
+        node: String,
+    },
+    /// Set a parameter on a node
+    Set {
+        name: String,
+        value: String,
+        #[arg(long)]
+        node: String,
+        #[arg(long = "type", value_enum)]
+        value_type: Option<ParameterValueTypeArg>,
+        #[arg(long)]
+        atomic: bool,
+    },
+}
+
+#[cfg(test)]
+mod tests {
+    use clap::Parser;
+
+    use super::{Backend, Cli, Command, ListTarget, ParamCommand, ParameterValueTypeArg};
+
+    #[test]
+    fn parses_echo_command_with_defaults() {
+        let cli = Cli::parse_from(["rosz", "echo", "/chatter", "--count", "1"]);
+
+        assert_eq!(cli.router, "tcp/127.0.0.1:7447");
+        assert_eq!(cli.domain, 0);
+        assert_eq!(cli.backend, Backend::RmwZenoh);
+        assert!(!cli.json);
+
+        match cli.command {
+            Command::Echo {
+                topic,
+                count,
+                timeout,
+            } => {
+                assert_eq!(topic, "/chatter");
+                assert_eq!(count, Some(1));
+                assert_eq!(timeout, None);
+            }
+            other => panic!("unexpected command: {other:?}"),
+        }
+    }
+
+    #[test]
+    fn parses_global_flags_after_subcommand() {
+        let cli = Cli::parse_from([
+            "rosz",
+            "list",
+            "topics",
+            "--router",
+            "tcp/192.168.1.10:7447",
+            "--domain",
+            "7",
+            "--backend",
+            "ros2dds",
+            "--json",
+        ]);
+
+        assert_eq!(cli.router, "tcp/192.168.1.10:7447");
+        assert_eq!(cli.domain, 7);
+        assert_eq!(cli.backend, Backend::Ros2Dds);
+        assert!(cli.json);
+
+        match cli.command {
+            Command::List { target } => assert_eq!(target, ListTarget::Topics),
+            other => panic!("unexpected command: {other:?}"),
+        }
+    }
+
+    #[test]
+    fn parses_param_set_with_type_override() {
+        let cli = Cli::parse_from([
+            "rosz",
+            "param",
+            "set",
+            "max_speed",
+            "42",
+            "--node",
+            "talker",
+            "--type",
+            "integer",
+            "--atomic",
+        ]);
+
+        match cli.command {
+            Command::Param { command } => match command {
+                ParamCommand::Set {
+                    name,
+                    value,
+                    node,
+                    value_type,
+                    atomic,
+                } => {
+                    assert_eq!(name, "max_speed");
+                    assert_eq!(value, "42");
+                    assert_eq!(node, "talker");
+                    assert_eq!(value_type, Some(ParameterValueTypeArg::Integer));
+                    assert!(atomic);
+                }
+                other => panic!("unexpected param command: {other:?}"),
+            },
+            other => panic!("unexpected command: {other:?}"),
+        }
+    }
+}
diff --git a/crates/ros-z-cli/src/commands/echo.rs b/crates/ros-z-cli/src/commands/echo.rs
new file mode 100644
index 00000000..eeb5bedf
--- /dev/null
+++ b/crates/ros-z-cli/src/commands/echo.rs
@@ -0,0 +1,266 @@
+use std::time::Duration;
+
+use color_eyre::eyre::{Result, WrapErr, bail, eyre};
+use ros_z::{
+    Builder,
+    dynamic::{
+        DynSub, DynamicMessage, DynamicNamedValue, DynamicValue, EnumPayloadValue, EnumValue,
+        MessageSchemaTypeDescription,
+    },
+};
+use serde_json::{Map, Value};
+
+use crate::{
+    app::AppContext,
+    model::echo::{EchoHeader, EchoMessageView},
+    render::{OutputMode, json, text},
+};
+
+const TYPE_DISCOVERY_TIMEOUT: Duration = Duration::from_secs(5);
+
+pub async fn run(
+    app: &AppContext,
+    output_mode: OutputMode,
+    topic: &str,
+    count: Option<usize>,
+    timeout: Option<f64>,
+) -> Result<()> {
+    let subscriber = app
+        .create_dynamic_subscriber_builder(topic, TYPE_DISCOVERY_TIMEOUT)
+        .await
+        .and_then(|builder| builder.build().map_err(|error| eyre!(error)))
+        .wrap_err_with(|| format!("failed to subscribe to {topic}"))?;
+    let schema = subscriber
+        .schema()
+        .ok_or_else(|| eyre!("dynamic subscriber missing schema for {topic}"))?;
+    let header = EchoHeader::new(
+        topic.to_string(),
+        schema.type_name.to_string(),
+        schema
+            .compute_type_hash()
+            .map(|hash| hash.to_rihs_string())
+            .unwrap_or_else(|_| "unknown".to_string()),
+    );
+    let deadline = timeout
+        .map(Duration::from_secs_f64)
+        .map(|timeout| tokio::time::Instant::now() + timeout);
+    let mut seen = 0usize;
+
+    if output_mode.is_text() {
+        text::print_echo_header(&header);
+    }
+
+    loop {
+        if count.is_some_and(|limit| seen >= limit) {
+            return Ok(());
+        }
+
+        let message = receive_message(&subscriber, deadline, topic).await?;
+        seen += 1;
+
+        match output_mode {
+            OutputMode::Json => {
+                let view = EchoMessageView::new(
+                    header.topic.clone(),
+                    message.schema().type_name.to_string(),
+                    header.type_hash.clone(),
+                    dynamic_message_to_json(&message),
+                );
+                json::print_line(&view)?;
+            }
+            OutputMode::Text => {
+                text::print_echo_message(&format_message_pretty(&message), count, seen);
+            }
+        }
+    }
+}
+
+async fn receive_message(
+    subscriber: &DynSub,
+    deadline: Option<tokio::time::Instant>,
+    topic: &str,
+) -> Result<ros_z::dynamic::DynamicMessage> {
+    let receive = subscriber.async_recv();
+
+    match deadline {
+        Some(deadline) => match tokio::time::timeout_at(deadline, receive).await {
+            Ok(result) => {
+                result.map_err(|error| eyre!("subscriber receive failed for {topic}: {error}"))
+            }
+            Err(_) => bail!("timed out waiting for messages on {topic}"),
+        },
+        None => receive
+            .await
+            .map_err(|error| eyre!("subscriber receive failed for {topic}: {error}")),
+    }
+}
+
+fn dynamic_message_to_json(message: &DynamicMessage) -> Value {
+    let mut fields = Map::new();
+    for (name, value) in message.iter() {
+        fields.insert(name.to_string(), dynamic_value_to_json(value));
+    }
+    Value::Object(fields)
+}
+
+fn dynamic_value_to_json(value: &DynamicValue) -> Value {
+    match value {
+        DynamicValue::Bool(value) => Value::Bool(*value),
+        DynamicValue::Int8(value) => Value::Number((*value).into()),
+        DynamicValue::Int16(value) => Value::Number((*value).into()),
+        DynamicValue::Int32(value) => Value::Number((*value).into()),
+        DynamicValue::Int64(value) => Value::Number((*value).into()),
+        DynamicValue::Uint8(value) => Value::Number((*value).into()),
+        DynamicValue::Uint16(value) => Value::Number((*value).into()),
+        DynamicValue::Uint32(value) => Value::Number((*value).into()),
+        DynamicValue::Uint64(value) => Value::Number((*value).into()),
+        DynamicValue::Float32(value) => serde_json::Number::from_f64(*value as f64)
+            .map(Value::Number)
+            .unwrap_or(Value::Null),
+        DynamicValue::Float64(value) => serde_json::Number::from_f64(*value)
+            .map(Value::Number)
+            .unwrap_or(Value::Null),
+        DynamicValue::String(value) => Value::String(value.clone()),
+        DynamicValue::Bytes(value) => Value::Array(
+            value
+                .iter()
+                .map(|byte| Value::Number((*byte).into()))
+                .collect(),
+        ),
+        DynamicValue::Message(value) => dynamic_message_to_json(value),
+        DynamicValue::Optional(None) => Value::Null,
+        DynamicValue::Optional(Some(value)) => dynamic_value_to_json(value),
+        DynamicValue::Enum(value) => enum_value_to_json(value),
+        DynamicValue::Array(values) => {
+            Value::Array(values.iter().map(dynamic_value_to_json).collect())
+        }
+    }
+}
+
+fn enum_value_to_json(value: &EnumValue) -> Value {
+    let mut fields = Map::new();
+    fields.insert(
+        "variant_index".to_string(),
+        Value::Number(value.variant_index.into()),
+    );
+    fields.insert(
+        "variant_name".to_string(),
+        Value::String(value.variant_name.clone()),
+    );
+    fields.insert("payload".to_string(), enum_payload_to_json(&value.payload));
+    Value::Object(fields)
+}
+
+fn enum_payload_to_json(payload: &EnumPayloadValue) -> Value {
+    match payload {
+        EnumPayloadValue::Unit => Value::Null,
+        EnumPayloadValue::Newtype(value) => dynamic_value_to_json(value),
+        EnumPayloadValue::Tuple(values) => {
+            Value::Array(values.iter().map(dynamic_value_to_json).collect())
+        }
+        EnumPayloadValue::Struct(fields) => Value::Object(
+            fields
+                .iter()
+                .map(|field| (field.name.clone(), dynamic_value_to_json(&field.value)))
+                .collect(),
+        ),
+    }
+}
+
+fn format_message_pretty(message: &DynamicMessage) -> String {
+    let mut output = String::new();
+    for (name, value) in message.iter() {
+        format_value_pretty(&mut output, name, value, 0);
+    }
+    output
+}
+
+fn format_value_pretty(output: &mut String, name: &str, value: &DynamicValue, indent: usize) {
+    let prefix = "  ".repeat(indent);
+
+    match value {
+        DynamicValue::Bool(value) => output.push_str(&format!("{}{}: {}\n", prefix, name, value)),
+        DynamicValue::Int8(value) => output.push_str(&format!("{}{}: {}\n", prefix, name, value)),
+        DynamicValue::Int16(value) => output.push_str(&format!("{}{}: {}\n", prefix, name, value)),
+        DynamicValue::Int32(value) => output.push_str(&format!("{}{}: {}\n", prefix, name, value)),
+        DynamicValue::Int64(value) => output.push_str(&format!("{}{}: {}\n", prefix, name, value)),
+        DynamicValue::Uint8(value) => output.push_str(&format!("{}{}: {}\n", prefix, name, value)),
+        DynamicValue::Uint16(value) => output.push_str(&format!("{}{}: {}\n", prefix, name, value)),
+        DynamicValue::Uint32(value) => output.push_str(&format!("{}{}: {}\n", prefix, name, value)),
+        DynamicValue::Uint64(value) => output.push_str(&format!("{}{}: {}\n", prefix, name, value)),
+        DynamicValue::Float32(value) => {
+            output.push_str(&format!("{}{}: {}\n", prefix, name, value))
+        }
+        DynamicValue::Float64(value) => {
+            output.push_str(&format!("{}{}: {}\n", prefix, name, value))
+        }
+        DynamicValue::String(value) => {
+            output.push_str(&format!("{}{}: \"{}\"\n", prefix, name, value))
+        }
+        DynamicValue::Bytes(value) => output.push_str(&format!(
+            "{}{}: [bytes: {} bytes]\n",
+            prefix,
+            name,
+            value.len()
+        )),
+        DynamicValue::Message(value) => {
+            output.push_str(&format!("{}{}:\n", prefix, name));
+            for (nested_name, nested_value) in value.iter() {
+                format_value_pretty(output, nested_name, nested_value, indent + 1);
+            }
+        }
+        DynamicValue::Optional(None) => output.push_str(&format!("{}{}: null\n", prefix, name)),
+        DynamicValue::Optional(Some(value)) => format_value_pretty(output, name, value, indent),
+        DynamicValue::Enum(value) => format_enum_value_pretty(output, name, value, indent),
+        DynamicValue::Array(values) => {
+            if values.is_empty() {
+                output.push_str(&format!("{}{}[]: []\n", prefix, name));
+            } else {
+                output.push_str(&format!("{}{}[{}]:\n", prefix, name, values.len()));
+                for (index, value) in values.iter().enumerate() {
+                    format_value_pretty(output, &format!("[{}]", index), value, indent + 1);
+                }
+            }
+        }
+    }
+}
+
+fn format_enum_value_pretty(output: &mut String, name: &str, value: &EnumValue, indent: usize) {
+    let prefix = "  ".repeat(indent);
+    output.push_str(&format!("{}{}:\n", prefix, name));
+    output.push_str(&format!("{}  variant: {}\n", prefix, value.variant_name));
+    format_enum_payload_pretty(output, &value.payload, indent + 1);
+}
+
+fn format_enum_payload_pretty(output: &mut String, payload: &EnumPayloadValue, indent: usize) {
+    let prefix = "  ".repeat(indent);
+
+    match payload {
+        EnumPayloadValue::Unit => output.push_str(&format!("{}payload: null\n", prefix)),
+        EnumPayloadValue::Newtype(value) => format_value_pretty(output, "payload", value, indent),
+        EnumPayloadValue::Tuple(values) => {
+            if values.is_empty() {
+                output.push_str(&format!("{}payload[]: []\n", prefix));
+            } else {
+                output.push_str(&format!("{}payload[{}]:\n", prefix, values.len()));
+                for (index, value) in values.iter().enumerate() {
+                    format_value_pretty(output, &format!("[{}]", index), value, indent + 1);
+                }
+            }
+        }
+        EnumPayloadValue::Struct(fields) => {
+            if fields.is_empty() {
+                output.push_str(&format!("{}payload: {{}}\n", prefix));
+            } else {
+                output.push_str(&format!("{}payload:\n", prefix));
+                format_named_fields_pretty(output, fields, indent + 1);
+            }
+        }
+    }
+}
+
+fn format_named_fields_pretty(output: &mut String, fields: &[DynamicNamedValue], indent: usize) {
+    for field in fields {
+        format_value_pretty(output, &field.name, &field.value, indent);
+    }
+}
diff --git a/crates/ros-z-cli/src/commands/graph.rs b/crates/ros-z-cli/src/commands/graph.rs
new file mode 100644
index 00000000..1b68c664
--- /dev/null
+++ b/crates/ros-z-cli/src/commands/graph.rs
@@ -0,0 +1,19 @@
+use color_eyre::eyre::Result;
+
+use crate::{
+    app::AppContext,
+    render::{OutputMode, json, text},
+};
+
+pub async fn run(app: &AppContext, output_mode: OutputMode) -> Result<()> {
+    app.wait_for_graph_settle().await;
+    let snapshot = app.snapshot();
+
+    match output_mode {
+        OutputMode::Json => json::print_pretty(&snapshot),
+        OutputMode::Text => {
+            text::print_graph_snapshot(&snapshot);
+            Ok(())
+        }
+    }
+}
diff --git a/crates/ros-z-cli/src/commands/info.rs b/crates/ros-z-cli/src/commands/info.rs
new file mode 100644
index 00000000..54e8f69d
--- /dev/null
+++ b/crates/ros-z-cli/src/commands/info.rs
@@ -0,0 +1,120 @@
+use color_eyre::eyre::{Result, eyre};
+use ros_z::entity::EntityKind;
+
+use crate::{
+    app::AppContext,
+    cli::InfoTarget,
+    model::info::{NodeInfo, ServiceInfo, TopicInfo},
+    render::{OutputMode, json, text},
+    support::{
+        endpoints::{named_types, summarize_endpoints},
+        nodes::{can_resolve_node_target, graph_node_key, resolve_node_target},
+    },
+};
+
+pub async fn run(
+    app: &AppContext,
+    output_mode: OutputMode,
+    target: InfoTarget,
+    name: &str,
+) -> Result<()> {
+    match target {
+        InfoTarget::Topic => render_topic_info(app, output_mode, name).await,
+        InfoTarget::Service => render_service_info(app, output_mode, name).await,
+        InfoTarget::Node => render_node_info(app, output_mode, name).await,
+    }
+}
+
+async fn render_topic_info(app: &AppContext, output_mode: OutputMode, topic: &str) -> Result<()> {
+    app.wait_for_graph_condition(|graph| {
+        graph
+            .get_topic_names_and_types()
+            .iter()
+            .any(|(name, _)| name == topic)
+    })
+    .await;
+
+    let graph = app.graph();
+    let type_name = graph
+        .get_topic_names_and_types()
+        .into_iter()
+        .find_map(|(name, type_name)| (name == topic).then_some(type_name))
+        .ok_or_else(|| eyre!("topic not found: {topic}"))?;
+    let info = TopicInfo::new(
+        topic.to_string(),
+        type_name,
+        summarize_endpoints(graph.get_entities_by_topic(EntityKind::Publisher, topic)),
+        summarize_endpoints(graph.get_entities_by_topic(EntityKind::Subscription, topic)),
+    );
+
+    match output_mode {
+        OutputMode::Json => json::print_pretty(&info),
+        OutputMode::Text => {
+            text::print_topic_info(&info);
+            Ok(())
+        }
+    }
+}
+
+async fn render_service_info(
+    app: &AppContext,
+    output_mode: OutputMode,
+    service: &str,
+) -> Result<()> {
+    app.wait_for_graph_condition(|graph| {
+        graph
+            .get_service_names_and_types()
+            .iter()
+            .any(|(name, _)| name == service)
+    })
+    .await;
+
+    let graph = app.graph();
+    let type_name = graph
+        .get_service_names_and_types()
+        .into_iter()
+        .find_map(|(name, type_name)| (name == service).then_some(type_name))
+        .ok_or_else(|| eyre!("service not found: {service}"))?;
+    let info = ServiceInfo::new(
+        service.to_string(),
+        type_name,
+        summarize_endpoints(graph.get_entities_by_service(EntityKind::Service, service)),
+        summarize_endpoints(graph.get_entities_by_service(EntityKind::Client, service)),
+    );
+
+    match output_mode {
+        OutputMode::Json => json::print_pretty(&info),
+        OutputMode::Text => {
+            text::print_service_info(&info);
+            Ok(())
+        }
+    }
+}
+
+async fn render_node_info(app: &AppContext, output_mode: OutputMode, selector: &str) -> Result<()> {
+    app.wait_for_graph_condition(|graph| can_resolve_node_target(graph, selector))
+        .await;
+
+    let graph = app.graph();
+    let target = resolve_node_target(graph, selector)?;
+    let node_key = graph_node_key(&target);
+    let info = NodeInfo::new(
+        target.name.clone(),
+        target.namespace.clone(),
+        target.fully_qualified_name(),
+        named_types(graph.get_names_and_types_by_node(node_key.clone(), EntityKind::Publisher)),
+        named_types(graph.get_names_and_types_by_node(node_key.clone(), EntityKind::Subscription)),
+        named_types(graph.get_names_and_types_by_node(node_key.clone(), EntityKind::Service)),
+        named_types(graph.get_names_and_types_by_node(node_key.clone(), EntityKind::Client)),
+        named_types(graph.get_action_server_names_and_types_by_node(node_key.clone())),
+        named_types(graph.get_action_client_names_and_types_by_node(node_key)),
+    );
+
+    match output_mode {
+        OutputMode::Json => json::print_pretty(&info),
+        OutputMode::Text => {
+            text::print_node_info(&info);
+            Ok(())
+        }
+    }
+}
diff --git a/crates/ros-z-cli/src/commands/list.rs b/crates/ros-z-cli/src/commands/list.rs
new file mode 100644
index 00000000..1b10ea6c
--- /dev/null
+++ b/crates/ros-z-cli/src/commands/list.rs
@@ -0,0 +1,80 @@
+use color_eyre::eyre::Result;
+use ros_z::entity::EntityKind;
+
+use crate::{
+    app::AppContext,
+    cli::ListTarget,
+    model::graph::{NodeSummary, ServiceSummary, TopicSummary},
+    render::{OutputMode, json, text},
+};
+
+pub async fn run(app: &AppContext, output_mode: OutputMode, target: ListTarget) -> Result<()> {
+    app.wait_for_graph_settle().await;
+
+    match target {
+        ListTarget::Topics => render_topics(output_mode, app),
+        ListTarget::Nodes => render_nodes(output_mode, app),
+        ListTarget::Services => render_services(output_mode, app),
+    }
+}
+
+fn render_topics(output_mode: OutputMode, app: &AppContext) -> Result<()> {
+    let mut topics: Vec<_> = app
+        .snapshot()
+        .topics
+        .into_iter()
+        .map(TopicSummary::from)
+        .collect();
+    topics.sort_by(|left, right| left.name.cmp(&right.name));
+
+    match output_mode {
+        OutputMode::Json => json::print_pretty(&topics),
+        OutputMode::Text => {
+            text::print_topic_summaries(&topics);
+            Ok(())
+        }
+    }
+}
+
+fn render_nodes(output_mode: OutputMode, app: &AppContext) -> Result<()> {
+    let mut nodes: Vec<_> = app
+        .graph()
+        .get_node_names()
+        .into_iter()
+        .map(|(name, namespace)| NodeSummary::new(name, namespace))
+        .collect();
+    nodes.sort_by(|left, right| left.fqn.cmp(&right.fqn));
+
+    match output_mode {
+        OutputMode::Json => json::print_pretty(&nodes),
+        OutputMode::Text => {
+            text::print_node_summaries(&nodes);
+            Ok(())
+        }
+    }
+}
+
+fn render_services(output_mode: OutputMode, app: &AppContext) -> Result<()> {
+    let graph = app.graph();
+    let mut services: Vec<_> = graph
+        .get_service_names_and_types()
+        .into_iter()
+        .map(|(name, type_name)| {
+            ServiceSummary::new(
+                name.clone(),
+                type_name,
+                graph.count_by_service(EntityKind::Service, &name),
+                graph.count_by_service(EntityKind::Client, &name),
+            )
+        })
+        .collect();
+    services.sort_by(|left, right| left.name.cmp(&right.name));
+
+    match output_mode {
+        OutputMode::Json => json::print_pretty(&services),
+        OutputMode::Text => {
+            text::print_service_summaries(&services);
+            Ok(())
+        }
+    }
+}
diff --git a/crates/ros-z-cli/src/commands/mod.rs b/crates/ros-z-cli/src/commands/mod.rs
new file mode 100644
index 00000000..7164cc02
--- /dev/null
+++ b/crates/ros-z-cli/src/commands/mod.rs
@@ -0,0 +1,6 @@
+pub mod echo;
+pub mod graph;
+pub mod info;
+pub mod list;
+pub mod param;
+pub mod watch;
diff --git a/crates/ros-z-cli/src/commands/param.rs b/crates/ros-z-cli/src/commands/param.rs
new file mode 100644
index 00000000..3e8907df
--- /dev/null
+++ b/crates/ros-z-cli/src/commands/param.rs
@@ -0,0 +1,141 @@
+use color_eyre::eyre::{Result, bail, eyre};
+use ros_z::parameter::{Parameter, ParameterTarget};
+
+use crate::{
+    app::AppContext,
+    cli::ParamCommand,
+    model::param::{ParameterGetView, ParameterListView, ParameterSetView, ParameterValueView},
+    render::{OutputMode, json, text},
+    support::{
+        display_error,
+        nodes::{can_resolve_node_target, resolve_node_target},
+        param_parse::parse_parameter_value,
+    },
+};
+
+pub async fn run(app: &AppContext, output_mode: OutputMode, command: ParamCommand) -> Result<()> {
+    match command {
+        ParamCommand::List {
+            node,
+            prefix,
+            depth,
+        } => render_param_list(app, output_mode, &node, prefix, depth).await,
+        ParamCommand::Get { name, node } => render_param_get(app, output_mode, &node, &name).await,
+        ParamCommand::Set {
+            name,
+            value,
+            node,
+            value_type,
+            atomic,
+        } => render_param_set(app, output_mode, &node, &name, &value, value_type, atomic).await,
+    }
+}
+
+async fn render_param_list(
+    app: &AppContext,
+    output_mode: OutputMode,
+    selector: &str,
+    prefix: Vec<String>,
+    depth: Option<u64>,
+) -> Result<()> {
+    let target = resolve_parameter_target(app, selector).await?;
+    let client = app.parameter_client(target.clone())?;
+    let response = client.list(&prefix, depth).await.map_err(display_error)?;
+    let view = ParameterListView::new(
+        target.fully_qualified_name(),
+        response.names,
+        response.prefixes,
+    );
+
+    match output_mode {
+        OutputMode::Json => json::print_pretty(&view),
+        OutputMode::Text => {
+            text::print_parameter_list(&view);
+            Ok(())
+        }
+    }
+}
+
+async fn render_param_get(
+    app: &AppContext,
+    output_mode: OutputMode,
+    selector: &str,
+    name: &str,
+) -> Result<()> {
+    let target = resolve_parameter_target(app, selector).await?;
+    let client = app.parameter_client(target.clone())?;
+    let values = client.get(&[name]).await.map_err(display_error)?;
+    let value = values
+        .into_iter()
+        .next()
+        .ok_or_else(|| eyre!("parameter not returned: {name}"))?;
+    let view = ParameterGetView::new(
+        target.fully_qualified_name(),
+        name.to_string(),
+        ParameterValueView::from_parameter_value(&value)?,
+    );
+
+    match output_mode {
+        OutputMode::Json => json::print_pretty(&view),
+        OutputMode::Text => {
+            text::print_parameter_get(&view);
+            Ok(())
+        }
+    }
+}
+
+async fn render_param_set(
+    app: &AppContext,
+    output_mode: OutputMode,
+    selector: &str,
+    name: &str,
+    value: &str,
+    value_type: Option<crate::cli::ParameterValueTypeArg>,
+    atomic: bool,
+) -> Result<()> {
+    let target = resolve_parameter_target(app, selector).await?;
+    let client = app.parameter_client(target.clone())?;
+    let parameter_value = parse_parameter_value(value, value_type)?;
+    let parameter = Parameter::new(name.to_string(), parameter_value.clone());
+
+    if atomic {
+        let result = client
+            .set_atomically(&[parameter])
+            .await
+            .map_err(display_error)?;
+        if !result.successful {
+            bail!("parameter update rejected: {}", result.reason);
+        }
+    } else {
+        let results = client.set(&[parameter]).await.map_err(display_error)?;
+        let result = results
+            .into_iter()
+            .next()
+            .ok_or_else(|| eyre!("missing set result for parameter {name}"))?;
+        if !result.successful {
+            bail!("parameter update rejected: {}", result.reason);
+        }
+    }
+
+    let view = ParameterSetView::new(
+        target.fully_qualified_name(),
+        name.to_string(),
+        ParameterValueView::from_parameter_value(&parameter_value)?,
+        atomic,
+        true,
+    );
+
+    match output_mode {
+        OutputMode::Json => json::print_pretty(&view),
+        OutputMode::Text => {
+            text::print_parameter_set(&view);
+            Ok(())
+        }
+    }
+}
+
+async fn resolve_parameter_target(app: &AppContext, selector: &str) -> Result<ParameterTarget> {
+    app.wait_for_graph_condition(|graph| can_resolve_node_target(graph, selector))
+        .await;
+    resolve_node_target(app.graph(), selector)
+}
diff --git a/crates/ros-z-cli/src/commands/watch.rs b/crates/ros-z-cli/src/commands/watch.rs
new file mode 100644
index 00000000..15d937bf
--- /dev/null
+++ b/crates/ros-z-cli/src/commands/watch.rs
@@ -0,0 +1,37 @@
+use std::time::Duration;
+
+use color_eyre::eyre::Result;
+
+use crate::{
+    app::AppContext,
+    model::watch::WatchEvent,
+    render::{OutputMode, json, text},
+    support::graph::diff_snapshots,
+};
+
+const WATCH_POLL_INTERVAL: Duration = Duration::from_millis(500);
+
+pub async fn run(app: &AppContext, output_mode: OutputMode) -> Result<()> {
+    app.wait_for_graph_settle().await;
+
+    let mut previous = app.snapshot();
+    match output_mode {
+        OutputMode::Json => json::print_line(&WatchEvent::InitialState {
+            snapshot: previous.clone(),
+        })?,
+        OutputMode::Text => text::print_graph_snapshot(&previous),
+    }
+
+    loop {
+        tokio::time::sleep(WATCH_POLL_INTERVAL).await;
+
+        let current = app.snapshot();
+        for event in diff_snapshots(&previous, &current) {
+            match output_mode {
+                OutputMode::Json => json::print_line(&event)?,
+                OutputMode::Text => text::print_watch_event(&event),
+            }
+        }
+        previous = current;
+    }
+}
diff --git a/crates/ros-z-cli/src/lib.rs b/crates/ros-z-cli/src/lib.rs
new file mode 100644
index 00000000..66b90462
--- /dev/null
+++ b/crates/ros-z-cli/src/lib.rs
@@ -0,0 +1,41 @@
+mod app;
+pub mod cli;
+mod commands;
+mod model;
+mod render;
+mod support;
+
+use color_eyre::eyre::Result;
+
+use crate::{
+    app::AppContext,
+    cli::{Cli, Command},
+    render::OutputMode,
+};
+
+pub async fn run(cli: Cli) -> Result<()> {
+    let output_mode = OutputMode::from_json_flag(cli.json);
+    let app = AppContext::new(&cli.router, cli.domain, cli.backend)?;
+
+    let result = match cli.command {
+        Command::List { target } => commands::list::run(&app, output_mode, target).await,
+        Command::Watch => commands::watch::run(&app, output_mode).await,
+        Command::Graph => commands::graph::run(&app, output_mode).await,
+        Command::Echo {
+            topic,
+            count,
+            timeout,
+        } => commands::echo::run(&app, output_mode, &topic, count, timeout).await,
+        Command::Info { target, name } => {
+            commands::info::run(&app, output_mode, target, &name).await
+        }
+        Command::Param { command } => commands::param::run(&app, output_mode, command).await,
+    };
+    let shutdown_result = app.shutdown();
+
+    match (result, shutdown_result) {
+        (Ok(()), Ok(())) => Ok(()),
+        (Err(error), _) => Err(error),
+        (Ok(()), Err(error)) => Err(error),
+    }
+}
diff --git a/crates/ros-z-cli/src/main.rs b/crates/ros-z-cli/src/main.rs
new file mode 100644
index 00000000..f34bfdd2
--- /dev/null
+++ b/crates/ros-z-cli/src/main.rs
@@ -0,0 +1,10 @@
+use clap::Parser;
+use color_eyre::eyre::{Result, WrapErr};
+
+use ros_z_cli::{cli::Cli, run};
+
+#[tokio::main]
+async fn main() -> Result<()> {
+    color_eyre::install().wrap_err("failed to install color-eyre")?;
+    run(Cli::parse()).await
+}
diff --git a/crates/ros-z-cli/src/model/echo.rs b/crates/ros-z-cli/src/model/echo.rs
new file mode 100644
index 00000000..9880db4b
--- /dev/null
+++ b/crates/ros-z-cli/src/model/echo.rs
@@ -0,0 +1,40 @@
+use serde::Serialize;
+use serde_json::Value;
+
+#[derive(Debug, Clone, Serialize)]
+pub struct EchoHeader {
+    pub topic: String,
+    #[serde(rename = "type")]
+    pub type_name: String,
+    pub type_hash: String,
+}
+
+impl EchoHeader {
+    pub fn new(topic: String, type_name: String, type_hash: String) -> Self {
+        Self {
+            topic,
+            type_name,
+            type_hash,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize)]
+pub struct EchoMessageView {
+    pub topic: String,
+    #[serde(rename = "type")]
+    pub type_name: String,
+    pub type_hash: String,
+    pub data: Value,
+}
+
+impl EchoMessageView {
+    pub fn new(topic: String, type_name: String, type_hash: String, data: Value) -> Self {
+        Self {
+            topic,
+            type_name,
+            type_hash,
+            data,
+        }
+    }
+}
diff --git a/crates/ros-z-cli/src/model/graph.rs b/crates/ros-z-cli/src/model/graph.rs
new file mode 100644
index 00000000..ca11d43d
--- /dev/null
+++ b/crates/ros-z-cli/src/model/graph.rs
@@ -0,0 +1,61 @@
+use serde::Serialize;
+
+use crate::support::nodes::fully_qualified_node_name;
+
+#[derive(Debug, Clone, Serialize)]
+pub struct TopicSummary {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub type_name: String,
+    pub publishers: usize,
+    pub subscribers: usize,
+}
+
+impl From<ros_z::graph::TopicSnapshot> for TopicSummary {
+    fn from(value: ros_z::graph::TopicSnapshot) -> Self {
+        Self {
+            name: value.name,
+            type_name: value.type_name,
+            publishers: value.publishers,
+            subscribers: value.subscribers,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize)]
+pub struct NodeSummary {
+    pub name: String,
+    pub namespace: String,
+    pub fqn: String,
+}
+
+impl NodeSummary {
+    pub fn new(name: String, namespace: String) -> Self {
+        let fqn = fully_qualified_node_name(&namespace, &name);
+        Self {
+            name,
+            namespace,
+            fqn,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize)]
+pub struct ServiceSummary {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub type_name: String,
+    pub servers: usize,
+    pub clients: usize,
+}
+
+impl ServiceSummary {
+    pub fn new(name: String, type_name: String, servers: usize, clients: usize) -> Self {
+        Self {
+            name,
+            type_name,
+            servers,
+            clients,
+        }
+    }
+}
diff --git a/crates/ros-z-cli/src/model/info.rs b/crates/ros-z-cli/src/model/info.rs
new file mode 100644
index 00000000..a7d1a5de
--- /dev/null
+++ b/crates/ros-z-cli/src/model/info.rs
@@ -0,0 +1,110 @@
+use serde::Serialize;
+
+#[derive(Debug, Clone, Serialize)]
+pub struct EndpointSummary {
+    pub node: Option<String>,
+    pub type_hash: Option<String>,
+}
+
+#[derive(Debug, Clone, Serialize)]
+pub struct NamedType {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub type_name: String,
+}
+
+impl NamedType {
+    pub fn new(name: String, type_name: String) -> Self {
+        Self { name, type_name }
+    }
+}
+
+#[derive(Debug, Clone, Serialize)]
+pub struct TopicInfo {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub type_name: String,
+    pub publishers: Vec<EndpointSummary>,
+    pub subscribers: Vec<EndpointSummary>,
+}
+
+impl TopicInfo {
+    pub fn new(
+        name: String,
+        type_name: String,
+        publishers: Vec<EndpointSummary>,
+        subscribers: Vec<EndpointSummary>,
+    ) -> Self {
+        Self {
+            name,
+            type_name,
+            publishers,
+            subscribers,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize)]
+pub struct ServiceInfo {
+    pub name: String,
+    #[serde(rename = "type")]
+    pub type_name: String,
+    pub servers: Vec<EndpointSummary>,
+    pub clients: Vec<EndpointSummary>,
+}
+
+impl ServiceInfo {
+    pub fn new(
+        name: String,
+        type_name: String,
+        servers: Vec<EndpointSummary>,
+        clients: Vec<EndpointSummary>,
+    ) -> Self {
+        Self {
+            name,
+            type_name,
+            servers,
+            clients,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize)]
+pub struct NodeInfo {
+    pub name: String,
+    pub namespace: String,
+    pub fqn: String,
+    pub publishers: Vec<NamedType>,
+    pub subscribers: Vec<NamedType>,
+    pub services: Vec<NamedType>,
+    pub clients: Vec<NamedType>,
+    pub action_servers: Vec<NamedType>,
+    pub action_clients: Vec<NamedType>,
+}
+
+impl NodeInfo {
+    #[allow(clippy::too_many_arguments)]
+    pub fn new(
+        name: String,
+        namespace: String,
+        fqn: String,
+        publishers: Vec<NamedType>,
+        subscribers: Vec<NamedType>,
+        services: Vec<NamedType>,
+        clients: Vec<NamedType>,
+        action_servers: Vec<NamedType>,
+        action_clients: Vec<NamedType>,
+    ) -> Self {
+        Self {
+            name,
+            namespace,
+            fqn,
+            publishers,
+            subscribers,
+            services,
+            clients,
+            action_servers,
+            action_clients,
+        }
+    }
+}
diff --git a/crates/ros-z-cli/src/model/mod.rs b/crates/ros-z-cli/src/model/mod.rs
new file mode 100644
index 00000000..8d014d7a
--- /dev/null
+++ b/crates/ros-z-cli/src/model/mod.rs
@@ -0,0 +1,5 @@
+pub mod echo;
+pub mod graph;
+pub mod info;
+pub mod param;
+pub mod watch;
diff --git a/crates/ros-z-cli/src/model/param.rs b/crates/ros-z-cli/src/model/param.rs
new file mode 100644
index 00000000..c8f1f1ac
--- /dev/null
+++ b/crates/ros-z-cli/src/model/param.rs
@@ -0,0 +1,123 @@
+use color_eyre::eyre::Result;
+use ros_z::parameter::ParameterValue;
+use serde::Serialize;
+use serde_json::{Value, json};
+
+#[derive(Debug, Clone, Serialize)]
+pub struct ParameterListView {
+    pub node: String,
+    pub names: Vec<String>,
+    pub prefixes: Vec<String>,
+}
+
+impl ParameterListView {
+    pub fn new(node: String, names: Vec<String>, prefixes: Vec<String>) -> Self {
+        Self {
+            node,
+            names,
+            prefixes,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize)]
+pub struct ParameterValueView {
+    #[serde(rename = "type")]
+    pub value_type: String,
+    pub value: Value,
+    #[serde(skip_serializing)]
+    pub display: String,
+}
+
+impl ParameterValueView {
+    pub fn from_parameter_value(value: &ParameterValue) -> Result<Self> {
+        Ok(Self {
+            value_type: parameter_value_type_name(value).to_string(),
+            value: parameter_value_to_json(value),
+            display: format_parameter_value(value)?,
+        })
+    }
+}
+
+#[derive(Debug, Clone, Serialize)]
+pub struct ParameterGetView {
+    pub node: String,
+    pub name: String,
+    #[serde(flatten)]
+    pub parameter: ParameterValueView,
+}
+
+impl ParameterGetView {
+    pub fn new(node: String, name: String, parameter: ParameterValueView) -> Self {
+        Self {
+            node,
+            name,
+            parameter,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize)]
+pub struct ParameterSetView {
+    pub node: String,
+    pub name: String,
+    #[serde(flatten)]
+    pub parameter: ParameterValueView,
+    pub atomic: bool,
+    pub successful: bool,
+}
+
+impl ParameterSetView {
+    pub fn new(
+        node: String,
+        name: String,
+        parameter: ParameterValueView,
+        atomic: bool,
+        successful: bool,
+    ) -> Self {
+        Self {
+            node,
+            name,
+            parameter,
+            atomic,
+            successful,
+        }
+    }
+}
+
+fn parameter_value_to_json(value: &ParameterValue) -> Value {
+    match value {
+        ParameterValue::NotSet => Value::Null,
+        ParameterValue::Bool(value) => json!(value),
+        ParameterValue::Integer(value) => json!(value),
+        ParameterValue::Double(value) => json!(value),
+        ParameterValue::String(value) => json!(value),
+        ParameterValue::ByteArray(value) => json!(value),
+        ParameterValue::BoolArray(value) => json!(value),
+        ParameterValue::IntegerArray(value) => json!(value),
+        ParameterValue::DoubleArray(value) => json!(value),
+        ParameterValue::StringArray(value) => json!(value),
+    }
+}
+
+fn parameter_value_type_name(value: &ParameterValue) -> &'static str {
+    match value {
+        ParameterValue::NotSet => "not_set",
+        ParameterValue::Bool(_) => "bool",
+        ParameterValue::Integer(_) => "integer",
+        ParameterValue::Double(_) => "double",
+        ParameterValue::String(_) => "string",
+        ParameterValue::ByteArray(_) => "byte_array",
+        ParameterValue::BoolArray(_) => "bool_array",
+        ParameterValue::IntegerArray(_) => "integer_array",
+        ParameterValue::DoubleArray(_) => "double_array",
+        ParameterValue::StringArray(_) => "string_array",
+    }
+}
+
+fn format_parameter_value(value: &ParameterValue) -> Result<String> {
+    Ok(match value {
+        ParameterValue::String(value) => value.clone(),
+        _ => serde_json::to_string(&parameter_value_to_json(value))?,
+    })
+}
diff --git a/crates/ros-z-cli/src/model/watch.rs b/crates/ros-z-cli/src/model/watch.rs
new file mode 100644
index 00000000..bb495bf3
--- /dev/null
+++ b/crates/ros-z-cli/src/model/watch.rs
@@ -0,0 +1,14 @@
+use ros_z::graph::GraphSnapshot;
+use serde::Serialize;
+
+#[derive(Debug, Clone, Serialize)]
+#[serde(tag = "event", rename_all = "snake_case")]
+pub enum WatchEvent {
+    InitialState { snapshot: GraphSnapshot },
+    TopicDiscovered { name: String, type_name: String },
+    TopicRemoved { name: String },
+    NodeDiscovered { namespace: String, name: String },
+    NodeRemoved { namespace: String, name: String },
+    ServiceDiscovered { name: String, type_name: String },
+    ServiceRemoved { name: String },
+}
diff --git a/crates/ros-z-cli/src/render/json.rs b/crates/ros-z-cli/src/render/json.rs
new file mode 100644
index 00000000..337b28ba
--- /dev/null
+++ b/crates/ros-z-cli/src/render/json.rs
@@ -0,0 +1,12 @@
+use color_eyre::eyre::Result;
+use serde::Serialize;
+
+pub fn print_pretty<T: Serialize>(value: &T) -> Result<()> {
+    println!("{}", serde_json::to_string_pretty(value)?);
+    Ok(())
+}
+
+pub fn print_line<T: Serialize>(value: &T) -> Result<()> {
+    println!("{}", serde_json::to_string(value)?);
+    Ok(())
+}
diff --git a/crates/ros-z-cli/src/render/mod.rs b/crates/ros-z-cli/src/render/mod.rs
new file mode 100644
index 00000000..7fc59790
--- /dev/null
+++ b/crates/ros-z-cli/src/render/mod.rs
@@ -0,0 +1,18 @@
+pub mod json;
+pub mod text;
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum OutputMode {
+    Text,
+    Json,
+}
+
+impl OutputMode {
+    pub const fn from_json_flag(json: bool) -> Self {
+        if json { Self::Json } else { Self::Text }
+    }
+
+    pub const fn is_text(self) -> bool {
+        matches!(self, Self::Text)
+    }
+}
diff --git a/crates/ros-z-cli/src/render/text.rs b/crates/ros-z-cli/src/render/text.rs
new file mode 100644
index 00000000..a6080bd5
--- /dev/null
+++ b/crates/ros-z-cli/src/render/text.rs
@@ -0,0 +1,226 @@
+use ros_z::graph::GraphSnapshot;
+
+use crate::{
+    model::{
+        echo::EchoHeader,
+        graph::{NodeSummary, ServiceSummary, TopicSummary},
+        info::{EndpointSummary, NamedType, NodeInfo, ServiceInfo, TopicInfo},
+        param::{ParameterGetView, ParameterListView, ParameterSetView},
+        watch::WatchEvent,
+    },
+    support::nodes::fully_qualified_node_name,
+};
+
+pub fn print_topic_summaries(topics: &[TopicSummary]) {
+    let name_width = column_width(topics.iter().map(|topic| topic.name.as_str()));
+    let type_width = column_width(topics.iter().map(|topic| topic.type_name.as_str()));
+
+    for topic in topics {
+        println!(
+            "{:<name_width$}  {:<type_width$}  pubs={} subs={}",
+            topic.name, topic.type_name, topic.publishers, topic.subscribers,
+        );
+    }
+}
+
+pub fn print_node_summaries(nodes: &[NodeSummary]) {
+    for node in nodes {
+        println!("{}", node.fqn);
+    }
+}
+
+pub fn print_service_summaries(services: &[ServiceSummary]) {
+    let name_width = column_width(services.iter().map(|service| service.name.as_str()));
+    let type_width = column_width(services.iter().map(|service| service.type_name.as_str()));
+
+    for service in services {
+        println!(
+            "{:<name_width$}  {:<type_width$}  servers={} clients={}",
+            service.name, service.type_name, service.servers, service.clients,
+        );
+    }
+}
+
+pub fn print_graph_snapshot(snapshot: &GraphSnapshot) {
+    println!("Domain {}", snapshot.domain_id);
+    println!();
+
+    println!("Topics ({})", snapshot.topics.len());
+    let topics: Vec<_> = snapshot
+        .topics
+        .clone()
+        .into_iter()
+        .map(TopicSummary::from)
+        .collect();
+    print_topic_summaries(&topics);
+    println!();
+
+    println!("Nodes ({})", snapshot.nodes.len());
+    let mut nodes: Vec<_> = snapshot
+        .nodes
+        .iter()
+        .map(|node| NodeSummary::new(node.name.clone(), node.namespace.clone()))
+        .collect();
+    nodes.sort_by(|left, right| left.fqn.cmp(&right.fqn));
+    print_node_summaries(&nodes);
+    println!();
+
+    println!("Services ({})", snapshot.services.len());
+    let mut services: Vec<_> = snapshot
+        .services
+        .iter()
+        .map(|service| ServiceSummary::new(service.name.clone(), service.type_name.clone(), 0, 0))
+        .collect();
+    services.sort_by(|left, right| left.name.cmp(&right.name));
+    let name_width = column_width(services.iter().map(|service| service.name.as_str()));
+    let type_width = column_width(services.iter().map(|service| service.type_name.as_str()));
+    for service in services {
+        println!(
+            "{:<name_width$}  {:<type_width$}",
+            service.name, service.type_name,
+        );
+    }
+}
+
+pub fn print_topic_info(info: &TopicInfo) {
+    println!("Topic {}", info.name);
+    println!("Type: {}", info.type_name);
+    println!();
+    print_endpoint_section("Publishers", &info.publishers);
+    println!();
+    print_endpoint_section("Subscribers", &info.subscribers);
+}
+
+pub fn print_service_info(info: &ServiceInfo) {
+    println!("Service {}", info.name);
+    println!("Type: {}", info.type_name);
+    println!();
+    print_endpoint_section("Servers", &info.servers);
+    println!();
+    print_endpoint_section("Clients", &info.clients);
+}
+
+pub fn print_node_info(info: &NodeInfo) {
+    println!("Node {}", info.fqn);
+    println!();
+    print_named_type_section("Publishers", &info.publishers);
+    println!();
+    print_named_type_section("Subscribers", &info.subscribers);
+    println!();
+    print_named_type_section("Services", &info.services);
+    println!();
+    print_named_type_section("Clients", &info.clients);
+    println!();
+    print_named_type_section("Action servers", &info.action_servers);
+    println!();
+    print_named_type_section("Action clients", &info.action_clients);
+}
+
+pub fn print_parameter_list(view: &ParameterListView) {
+    println!("Node: {}", view.node);
+    if view.names.is_empty() {
+        println!("Parameters: 0");
+        return;
+    }
+
+    println!("Parameters ({})", view.names.len());
+    for name in &view.names {
+        println!("{name}");
+    }
+
+    if !view.prefixes.is_empty() {
+        println!();
+        println!("Prefixes ({})", view.prefixes.len());
+        for prefix in &view.prefixes {
+            println!("{prefix}");
+        }
+    }
+}
+
+pub fn print_parameter_get(view: &ParameterGetView) {
+    println!("Node: {}", view.node);
+    println!("Name: {}", view.name);
+    println!("Type: {}", view.parameter.value_type);
+    println!("Value: {}", view.parameter.display);
+}
+
+pub fn print_parameter_set(view: &ParameterSetView) {
+    println!("Node: {}", view.node);
+    println!("Name: {}", view.name);
+    println!("Type: {}", view.parameter.value_type);
+    println!("Value: {}", view.parameter.display);
+    println!("Atomic: {}", view.atomic);
+    println!("Updated: {}", view.successful);
+}
+
+pub fn print_echo_header(header: &EchoHeader) {
+    println!("Topic: {}", header.topic);
+    println!("Type: {}", header.type_name);
+    println!("Hash: {}", header.type_hash);
+    println!();
+}
+
+pub fn print_echo_message(message: &str, count: Option<usize>, seen: usize) {
+    print!("{message}");
+    if count.is_none_or(|limit| seen < limit) {
+        println!();
+    }
+}
+
+pub fn print_watch_event(event: &WatchEvent) {
+    match event {
+        WatchEvent::InitialState { snapshot } => print_graph_snapshot(snapshot),
+        WatchEvent::TopicDiscovered { name, type_name } => {
+            println!("topic + {name} ({type_name})");
+        }
+        WatchEvent::TopicRemoved { name } => {
+            println!("topic - {name}");
+        }
+        WatchEvent::NodeDiscovered { namespace, name } => {
+            println!("node + {}", fully_qualified_node_name(namespace, name));
+        }
+        WatchEvent::NodeRemoved { namespace, name } => {
+            println!("node - {}", fully_qualified_node_name(namespace, name));
+        }
+        WatchEvent::ServiceDiscovered { name, type_name } => {
+            println!("service + {name} ({type_name})");
+        }
+        WatchEvent::ServiceRemoved { name } => {
+            println!("service - {name}");
+        }
+    }
+}
+
+fn print_endpoint_section(label: &str, endpoints: &[EndpointSummary]) {
+    println!("{label} ({})", endpoints.len());
+    if endpoints.is_empty() {
+        println!("none");
+        return;
+    }
+
+    for endpoint in endpoints {
+        match (&endpoint.node, &endpoint.type_hash) {
+            (Some(node), Some(type_hash)) => println!("{node} [{type_hash}]"),
+            (Some(node), None) => println!("{node}"),
+            (None, Some(type_hash)) => println!("unknown [{type_hash}]"),
+            (None, None) => println!("unknown"),
+        }
+    }
+}
+
+fn print_named_type_section(label: &str, entries: &[NamedType]) {
+    println!("{label} ({})", entries.len());
+    if entries.is_empty() {
+        println!("none");
+        return;
+    }
+
+    let name_width = column_width(entries.iter().map(|entry| entry.name.as_str()));
+    for entry in entries {
+        println!("{:<name_width$}  {}", entry.name, entry.type_name);
+    }
+}
+
+fn column_width<'a>(values: impl Iterator<Item = &'a str>) -> usize {
+    values.map(str::len).max().unwrap_or(0)
+}
diff --git a/crates/ros-z-cli/src/support/endpoints.rs b/crates/ros-z-cli/src/support/endpoints.rs
new file mode 100644
index 00000000..1eb282fa
--- /dev/null
+++ b/crates/ros-z-cli/src/support/endpoints.rs
@@ -0,0 +1,39 @@
+use std::{collections::BTreeSet, sync::Arc};
+
+use ros_z::entity::{Entity, entity_get_endpoint};
+
+use crate::{
+    model::info::{EndpointSummary, NamedType},
+    support::nodes::fully_qualified_node_name,
+};
+
+pub fn summarize_endpoints(entities: Vec<Arc<Entity>>) -> Vec<EndpointSummary> {
+    let mut endpoints = BTreeSet::new();
+
+    for entity in entities {
+        if let Some(endpoint) = entity_get_endpoint(&entity) {
+            let node = endpoint
+                .node
+                .as_ref()
+                .map(|node| fully_qualified_node_name(&node.namespace, &node.name));
+            let type_hash = endpoint
+                .type_info
+                .as_ref()
+                .map(|type_info| type_info.hash.to_string());
+            endpoints.insert((node, type_hash));
+        }
+    }
+
+    endpoints
+        .into_iter()
+        .map(|(node, type_hash)| EndpointSummary { node, type_hash })
+        .collect()
+}
+
+pub fn named_types(entries: Vec<(String, String)>) -> Vec<NamedType> {
+    let unique: BTreeSet<_> = entries.into_iter().collect();
+    unique
+        .into_iter()
+        .map(|(name, type_name)| NamedType::new(name, type_name))
+        .collect()
+}
diff --git a/crates/ros-z-cli/src/support/graph.rs b/crates/ros-z-cli/src/support/graph.rs
new file mode 100644
index 00000000..d736af88
--- /dev/null
+++ b/crates/ros-z-cli/src/support/graph.rs
@@ -0,0 +1,131 @@
+use std::collections::{BTreeMap, BTreeSet};
+
+use ros_z::graph::GraphSnapshot;
+
+use crate::model::watch::WatchEvent;
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct SnapshotFingerprint {
+    topics: Vec<(String, String, usize, usize)>,
+    nodes: Vec<(String, String)>,
+    services: Vec<(String, String)>,
+}
+
+impl From<&GraphSnapshot> for SnapshotFingerprint {
+    fn from(snapshot: &GraphSnapshot) -> Self {
+        let mut topics: Vec<_> = snapshot
+            .topics
+            .iter()
+            .map(|topic| {
+                (
+                    topic.name.clone(),
+                    topic.type_name.clone(),
+                    topic.publishers,
+                    topic.subscribers,
+                )
+            })
+            .collect();
+        topics.sort();
+
+        let mut nodes: Vec<_> = snapshot
+            .nodes
+            .iter()
+            .map(|node| (node.namespace.clone(), node.name.clone()))
+            .collect();
+        nodes.sort();
+
+        let mut services: Vec<_> = snapshot
+            .services
+            .iter()
+            .map(|service| (service.name.clone(), service.type_name.clone()))
+            .collect();
+        services.sort();
+
+        Self {
+            topics,
+            nodes,
+            services,
+        }
+    }
+}
+
+pub fn diff_snapshots(previous: &GraphSnapshot, current: &GraphSnapshot) -> Vec<WatchEvent> {
+    let mut events = Vec::new();
+
+    let previous_topics: BTreeMap<_, _> = previous
+        .topics
+        .iter()
+        .map(|topic| (topic.name.clone(), topic.type_name.clone()))
+        .collect();
+    let current_topics: BTreeMap<_, _> = current
+        .topics
+        .iter()
+        .map(|topic| (topic.name.clone(), topic.type_name.clone()))
+        .collect();
+    for (name, type_name) in &current_topics {
+        if !previous_topics.contains_key(name) {
+            events.push(WatchEvent::TopicDiscovered {
+                name: name.clone(),
+                type_name: type_name.clone(),
+            });
+        }
+    }
+    for name in previous_topics.keys() {
+        if !current_topics.contains_key(name) {
+            events.push(WatchEvent::TopicRemoved { name: name.clone() });
+        }
+    }
+
+    let previous_nodes: BTreeSet<_> = previous
+        .nodes
+        .iter()
+        .map(|node| (node.namespace.clone(), node.name.clone()))
+        .collect();
+    let current_nodes: BTreeSet<_> = current
+        .nodes
+        .iter()
+        .map(|node| (node.namespace.clone(), node.name.clone()))
+        .collect();
+    for (namespace, name) in &current_nodes {
+        if !previous_nodes.contains(&(namespace.clone(), name.clone())) {
+            events.push(WatchEvent::NodeDiscovered {
+                namespace: namespace.clone(),
+                name: name.clone(),
+            });
+        }
+    }
+    for (namespace, name) in &previous_nodes {
+        if !current_nodes.contains(&(namespace.clone(), name.clone())) {
+            events.push(WatchEvent::NodeRemoved {
+                namespace: namespace.clone(),
+                name: name.clone(),
+            });
+        }
+    }
+
+    let previous_services: BTreeMap<_, _> = previous
+        .services
+        .iter()
+        .map(|service| (service.name.clone(), service.type_name.clone()))
+        .collect();
+    let current_services: BTreeMap<_, _> = current
+        .services
+        .iter()
+        .map(|service| (service.name.clone(), service.type_name.clone()))
+        .collect();
+    for (name, type_name) in &current_services {
+        if !previous_services.contains_key(name) {
+            events.push(WatchEvent::ServiceDiscovered {
+                name: name.clone(),
+                type_name: type_name.clone(),
+            });
+        }
+    }
+    for name in previous_services.keys() {
+        if !current_services.contains_key(name) {
+            events.push(WatchEvent::ServiceRemoved { name: name.clone() });
+        }
+    }
+
+    events
+}
diff --git a/crates/ros-z-cli/src/support/mod.rs b/crates/ros-z-cli/src/support/mod.rs
new file mode 100644
index 00000000..d28b048d
--- /dev/null
+++ b/crates/ros-z-cli/src/support/mod.rs
@@ -0,0 +1,12 @@
+pub mod endpoints;
+pub mod graph;
+pub mod nodes;
+pub mod param_parse;
+
+use std::fmt::Display;
+
+use color_eyre::eyre::{Report, eyre};
+
+pub fn display_error<E: Display>(error: E) -> Report {
+    eyre!("{error}")
+}
diff --git a/crates/ros-z-cli/src/support/nodes.rs b/crates/ros-z-cli/src/support/nodes.rs
new file mode 100644
index 00000000..c94c02df
--- /dev/null
+++ b/crates/ros-z-cli/src/support/nodes.rs
@@ -0,0 +1,71 @@
+use std::collections::BTreeSet;
+
+use color_eyre::eyre::{Result, bail, eyre};
+use ros_z::parameter::ParameterTarget;
+
+pub fn resolve_node_target(graph: &ros_z::graph::Graph, selector: &str) -> Result<ParameterTarget> {
+    if selector.starts_with('/') {
+        let target = ParameterTarget::from_fqn(selector)
+            .ok_or_else(|| eyre!("invalid fully-qualified node name: {selector}"))?;
+        if node_candidates(graph)
+            .iter()
+            .any(|candidate| candidate == &target)
+        {
+            return Ok(target);
+        }
+        bail!("node not found: {selector}");
+    }
+
+    let matches: Vec<_> = node_candidates(graph)
+        .into_iter()
+        .filter(|candidate| candidate.name == selector)
+        .collect();
+
+    match matches.as_slice() {
+        [] => bail!("node not found: {selector}"),
+        [target] => Ok(target.clone()),
+        _ => bail!(
+            "node name '{selector}' is ambiguous: {}",
+            matches
+                .iter()
+                .map(ParameterTarget::fully_qualified_name)
+                .collect::<Vec<_>>()
+                .join(", ")
+        ),
+    }
+}
+
+pub fn can_resolve_node_target(graph: &ros_z::graph::Graph, selector: &str) -> bool {
+    resolve_node_target(graph, selector).is_ok()
+}
+
+pub fn graph_node_key(target: &ParameterTarget) -> (String, String) {
+    (
+        normalize_node_namespace(&target.namespace),
+        target.name.clone(),
+    )
+}
+
+pub fn fully_qualified_node_name(namespace: &str, name: &str) -> String {
+    if namespace == "/" {
+        format!("/{name}")
+    } else {
+        format!("{namespace}/{name}")
+    }
+}
+
+fn node_candidates(graph: &ros_z::graph::Graph) -> Vec<ParameterTarget> {
+    let mut nodes = BTreeSet::new();
+    for (name, namespace) in graph.get_node_names() {
+        nodes.insert(ParameterTarget::new(namespace, name));
+    }
+    nodes.into_iter().collect()
+}
+
+fn normalize_node_namespace(namespace: &str) -> String {
+    if namespace.is_empty() || namespace == "/" {
+        String::new()
+    } else {
+        namespace.to_string()
+    }
+}
diff --git a/crates/ros-z-cli/src/support/param_parse.rs b/crates/ros-z-cli/src/support/param_parse.rs
new file mode 100644
index 00000000..db54c462
--- /dev/null
+++ b/crates/ros-z-cli/src/support/param_parse.rs
@@ -0,0 +1,229 @@
+use color_eyre::eyre::{Result, bail};
+use ros_z::parameter::ParameterValue;
+use serde_json::Value;
+
+use crate::cli::ParameterValueTypeArg;
+
+pub fn parse_parameter_value(
+    input: &str,
+    value_type: Option<ParameterValueTypeArg>,
+) -> Result<ParameterValue> {
+    match value_type {
+        Some(value_type) => parse_typed_parameter_value(input, value_type),
+        None => infer_parameter_value(input),
+    }
+}
+
+fn parse_typed_parameter_value(
+    input: &str,
+    value_type: ParameterValueTypeArg,
+) -> Result<ParameterValue> {
+    match value_type {
+        ParameterValueTypeArg::Bool => Ok(ParameterValue::Bool(parse_bool(input)?)),
+        ParameterValueTypeArg::Integer => Ok(ParameterValue::Integer(input.parse()?)),
+        ParameterValueTypeArg::Double => Ok(ParameterValue::Double(input.parse()?)),
+        ParameterValueTypeArg::String => Ok(ParameterValue::String(input.to_string())),
+        ParameterValueTypeArg::ByteArray => Ok(ParameterValue::ByteArray(parse_byte_array(input)?)),
+        ParameterValueTypeArg::BoolArray => Ok(ParameterValue::BoolArray(parse_bool_array(input)?)),
+        ParameterValueTypeArg::IntegerArray => {
+            Ok(ParameterValue::IntegerArray(parse_integer_array(input)?))
+        }
+        ParameterValueTypeArg::DoubleArray => {
+            Ok(ParameterValue::DoubleArray(parse_double_array(input)?))
+        }
+        ParameterValueTypeArg::StringArray => {
+            Ok(ParameterValue::StringArray(parse_string_array(input)?))
+        }
+        ParameterValueTypeArg::NotSet => Ok(ParameterValue::NotSet),
+    }
+}
+
+fn infer_parameter_value(input: &str) -> Result<ParameterValue> {
+    if let Ok(values) = parse_json_array(input) {
+        return infer_array_parameter_value(values);
+    }
+
+    if let Ok(value) = parse_bool(input) {
+        return Ok(ParameterValue::Bool(value));
+    }
+
+    if let Ok(value) = input.parse::<i64>() {
+        return Ok(ParameterValue::Integer(value));
+    }
+
+    if let Ok(value) = input.parse::<f64>() {
+        return Ok(ParameterValue::Double(value));
+    }
+
+    Ok(ParameterValue::String(input.to_string()))
+}
+
+fn infer_array_parameter_value(values: Vec<Value>) -> Result<ParameterValue> {
+    if values.is_empty() {
+        return Ok(ParameterValue::StringArray(Vec::new()));
+    }
+
+    if values.iter().all(Value::is_boolean) {
+        return Ok(ParameterValue::BoolArray(
+            values
+                .into_iter()
+                .map(|value| value.as_bool().expect("checked above"))
+                .collect(),
+        ));
+    }
+
+    if values.iter().all(|value| value.as_i64().is_some()) {
+        return Ok(ParameterValue::IntegerArray(
+            values
+                .into_iter()
+                .map(|value| value.as_i64().expect("checked above"))
+                .collect(),
+        ));
+    }
+
+    if values.iter().all(|value| value.as_f64().is_some()) {
+        return Ok(ParameterValue::DoubleArray(
+            values
+                .into_iter()
+                .map(|value| value.as_f64().expect("checked above"))
+                .collect(),
+        ));
+    }
+
+    if values.iter().all(Value::is_string) {
+        return Ok(ParameterValue::StringArray(
+            values
+                .into_iter()
+                .map(|value| value.as_str().expect("checked above").to_string())
+                .collect(),
+        ));
+    }
+
+    bail!("array values must be homogeneous booleans, numbers, or strings")
+}
+
+fn parse_json_array(input: &str) -> Result<Vec<Value>> {
+    let value: Value = serde_json::from_str(input)?;
+    match value {
+        Value::Array(values) => Ok(values),
+        _ => bail!("expected JSON array"),
+    }
+}
+
+fn parse_bool(input: &str) -> Result<bool> {
+    match input {
+        "true" => Ok(true),
+        "false" => Ok(false),
+        _ => bail!("expected 'true' or 'false'"),
+    }
+}
+
+fn parse_bool_array(input: &str) -> Result<Vec<bool>> {
+    parse_json_array(input)?
+        .into_iter()
+        .map(|value| match value {
+            Value::Bool(value) => Ok(value),
+            _ => bail!("bool arrays must use JSON booleans, e.g. [true,false]"),
+        })
+        .collect()
+}
+
+fn parse_integer_array(input: &str) -> Result<Vec<i64>> {
+    parse_json_array(input)?
+        .into_iter()
+        .map(|value| match value.as_i64() {
+            Some(value) => Ok(value),
+            None => bail!("integer arrays must use JSON integers, e.g. [1,2,3]"),
+        })
+        .collect()
+}
+
+fn parse_double_array(input: &str) -> Result<Vec<f64>> {
+    parse_json_array(input)?
+        .into_iter()
+        .map(|value| match value.as_f64() {
+            Some(value) => Ok(value),
+            None => bail!("double arrays must use JSON numbers, e.g. [1.0,2.5]"),
+        })
+        .collect()
+}
+
+fn parse_string_array(input: &str) -> Result<Vec<String>> {
+    parse_json_array(input)?
+        .into_iter()
+        .map(|value| match value {
+            Value::String(value) => Ok(value),
+            _ => bail!("string arrays must use JSON strings, e.g. [\"a\",\"b\"]"),
+        })
+        .collect()
+}
+
+fn parse_byte_array(input: &str) -> Result<Vec<u8>> {
+    parse_json_array(input)?
+        .into_iter()
+        .map(|value| match value.as_u64() {
+            Some(number) if u8::try_from(number).is_ok() => Ok(number as u8),
+            _ => bail!("byte arrays must use JSON integers in the range 0..=255"),
+        })
+        .collect()
+}
+
+#[cfg(test)]
+mod tests {
+    use ros_z::parameter::ParameterValue;
+
+    use super::parse_parameter_value;
+    use crate::cli::ParameterValueTypeArg;
+
+    #[test]
+    fn infers_scalar_values() {
+        assert_eq!(
+            parse_parameter_value("true", None).unwrap(),
+            ParameterValue::Bool(true)
+        );
+        assert_eq!(
+            parse_parameter_value("42", None).unwrap(),
+            ParameterValue::Integer(42)
+        );
+        assert_eq!(
+            parse_parameter_value("3.5", None).unwrap(),
+            ParameterValue::Double(3.5)
+        );
+        assert_eq!(
+            parse_parameter_value("hello", None).unwrap(),
+            ParameterValue::String("hello".to_string())
+        );
+    }
+
+    #[test]
+    fn infers_array_values() {
+        assert_eq!(
+            parse_parameter_value("[1,2,3]", None).unwrap(),
+            ParameterValue::IntegerArray(vec![1, 2, 3])
+        );
+        assert_eq!(
+            parse_parameter_value("[1.0,2.5]", None).unwrap(),
+            ParameterValue::DoubleArray(vec![1.0, 2.5])
+        );
+        assert_eq!(
+            parse_parameter_value(r#"["a","b"]"#, None).unwrap(),
+            ParameterValue::StringArray(vec!["a".to_string(), "b".to_string()])
+        );
+    }
+
+    #[test]
+    fn honors_explicit_type_overrides() {
+        assert_eq!(
+            parse_parameter_value("001", Some(ParameterValueTypeArg::String)).unwrap(),
+            ParameterValue::String("001".to_string())
+        );
+        assert_eq!(
+            parse_parameter_value("[0,255]", Some(ParameterValueTypeArg::ByteArray)).unwrap(),
+            ParameterValue::ByteArray(vec![0, 255])
+        );
+        assert_eq!(
+            parse_parameter_value("ignored", Some(ParameterValueTypeArg::NotSet)).unwrap(),
+            ParameterValue::NotSet
+        );
+    }
+}
diff --git a/crates/ros-z-console/src/app/render/services.rs b/crates/ros-z-console/src/app/render/services.rs
index 3423d38e..b44b305e 100644
--- a/crates/ros-z-console/src/app/render/services.rs
+++ b/crates/ros-z-console/src/app/render/services.rs
@@ -100,10 +100,15 @@ impl App {
                 for (idx, entity) in server_entities.iter().enumerate() {
                     if let Some(endpoint) = entity_get_endpoint(entity) {
                         detail.push_str(&format!("   Server {}:\n", idx + 1));
-                        detail.push_str(&format!(
-                            "    Node: {}/{}\n",
-                            endpoint.node.namespace, endpoint.node.name
-                        ));
+                        match endpoint.node.as_ref() {
+                            Some(node) => {
+                                detail.push_str(&format!(
+                                    "    Node: {}/{}\n",
+                                    node.namespace, node.name
+                                ));
+                            }
+                            None => detail.push_str("    Node: unknown\n"),
+                        }
                         detail.push_str(&format_qos_detail(&endpoint.qos));
                         detail.push_str("\n\n");
                     }
@@ -131,10 +136,15 @@ impl App {
                 for (idx, entity) in client_entities.iter().enumerate() {
                     if let Some(endpoint) = entity_get_endpoint(entity) {
                         detail.push_str(&format!("   Client {}:\n", idx + 1));
-                        detail.push_str(&format!(
-                            "    Node: {}/{}\n",
-                            endpoint.node.namespace, endpoint.node.name
-                        ));
+                        match endpoint.node.as_ref() {
+                            Some(node) => {
+                                detail.push_str(&format!(
+                                    "    Node: {}/{}\n",
+                                    node.namespace, node.name
+                                ));
+                            }
+                            None => detail.push_str("    Node: unknown\n"),
+                        }
                         detail.push_str(&format_qos_detail(&endpoint.qos));
                         detail.push_str("\n\n");
                     }
diff --git a/crates/ros-z-console/src/app/render/topics.rs b/crates/ros-z-console/src/app/render/topics.rs
index 898e4245..b7c9cf8d 100644
--- a/crates/ros-z-console/src/app/render/topics.rs
+++ b/crates/ros-z-console/src/app/render/topics.rs
@@ -145,10 +145,15 @@ impl App {
                 for (idx, entity) in pub_entities.iter().enumerate() {
                     if let Some(endpoint) = entity_get_endpoint(entity) {
                         detail.push_str(&format!("   Publisher {}:\n", idx + 1));
-                        detail.push_str(&format!(
-                            "    Node: {}/{}\n",
-                            endpoint.node.namespace, endpoint.node.name
-                        ));
+                        match endpoint.node.as_ref() {
+                            Some(node) => {
+                                detail.push_str(&format!(
+                                    "    Node: {}/{}\n",
+                                    node.namespace, node.name
+                                ));
+                            }
+                            None => detail.push_str("    Node: unknown\n"),
+                        }
 
                         if let Some(ti) = &endpoint.type_info {
                             let hash_str = ti.hash.to_rihs_string();
@@ -187,10 +192,15 @@ impl App {
                 for (idx, entity) in sub_entities.iter().enumerate() {
                     if let Some(endpoint) = entity_get_endpoint(entity) {
                         detail.push_str(&format!("   Subscriber {}:\n", idx + 1));
-                        detail.push_str(&format!(
-                            "    Node: {}/{}\n",
-                            endpoint.node.namespace, endpoint.node.name
-                        ));
+                        match endpoint.node.as_ref() {
+                            Some(node) => {
+                                detail.push_str(&format!(
+                                    "    Node: {}/{}\n",
+                                    node.namespace, node.name
+                                ));
+                            }
+                            None => detail.push_str("    Node: unknown\n"),
+                        }
 
                         if let Some(ti) = &endpoint.type_info {
                             let hash_str = ti.hash.to_rihs_string();
diff --git a/crates/ros-z-console/src/core/dynamic_subscriber.rs b/crates/ros-z-console/src/core/dynamic_subscriber.rs
deleted file mode 100644
index 4d5a55e9..00000000
--- a/crates/ros-z-console/src/core/dynamic_subscriber.rs
+++ /dev/null
@@ -1,141 +0,0 @@
-//! Dynamic topic subscriber for any ROS message type
-//!
-//! Provides automatic schema discovery and message reception for topics
-//! without compile-time knowledge of message types.
-
-use std::{sync::Arc, time::Duration};
-
-use flume::Receiver;
-use ros_z::{
-    dynamic::{DynamicMessage, DynamicSerdeCdrSerdes, MessageSchema},
-    node::ZNode,
-    pubsub::ZSub,
-};
-use zenoh::sample::Sample;
-
-/// Manages subscription to a single topic with dynamic message types
-pub struct DynamicTopicSubscriber {
-    /// Topic name being subscribed to
-    #[allow(dead_code)]
-    pub topic: String,
-    /// Discovered message schema
-    schema: Arc<MessageSchema>,
-    /// RIHS01 type hash for compatibility verification
-    type_hash: String,
-    /// Channel for receiving messages asynchronously
-    message_rx: Receiver<DynamicMessage>,
-    /// Subscriber handle (kept alive to maintain subscription)
-    _subscriber: Arc<ZSub<DynamicMessage, Sample, DynamicSerdeCdrSerdes>>,
-}
-
-impl DynamicTopicSubscriber {
-    /// Create a new dynamic subscriber with automatic schema discovery
-    ///
-    /// # Arguments
-    ///
-    /// * `node` - ROS node with type description service enabled
-    /// * `topic` - Topic name to subscribe to (e.g., "/chatter")
-    /// * `discovery_timeout` - Maximum time to wait for schema discovery
-    ///
-    /// # Errors
-    ///
-    /// Returns error if:
-    /// - No publishers found on topic within timeout
-    /// - Schema discovery fails
-    /// - Subscriber creation fails
-    pub async fn new(
-        node: &ZNode,
-        topic: &str,
-        discovery_timeout: Duration,
-    ) -> Result<Self, Box<dyn std::error::Error + Send + Sync>> {
-        // Use the node's auto-discovery method to get subscriber and schema
-        let (subscriber, schema) = node.create_dyn_sub_auto(topic, discovery_timeout).await?;
-
-        // Compute type hash for informational purposes
-        use ros_z::dynamic::MessageSchemaTypeDescription;
-        let type_hash = schema
-            .compute_type_hash()
-            .map(|h| h.to_rihs_string())
-            .unwrap_or_else(|_| "unknown".to_string());
-
-        // Create channel for async message handling
-        let (tx, rx) = flume::unbounded();
-
-        // Spawn background task to forward messages to channel
-        let subscriber = Arc::new(subscriber);
-        let sub_clone = subscriber.clone();
-        tokio::task::spawn_blocking(move || {
-            loop {
-                match sub_clone.recv() {
-                    Ok(msg) => {
-                        if tx.send(msg).is_err() {
-                            // Receiver dropped, exit task
-                            break;
-                        }
-                    }
-                    Err(e) => {
-                        tracing::warn!("Subscriber recv error: {}", e);
-                        break;
-                    }
-                }
-            }
-        });
-
-        Ok(Self {
-            topic: topic.to_string(),
-            schema,
-            type_hash,
-            message_rx: rx,
-            _subscriber: subscriber,
-        })
-    }
-
-    /// Get the discovered message schema
-    pub fn schema(&self) -> &MessageSchema {
-        &self.schema
-    }
-
-    /// Get the RIHS01 type hash
-    pub fn type_hash(&self) -> &str {
-        &self.type_hash
-    }
-
-    /// Receive the next message (blocking)
-    ///
-    /// Blocks until a message is available or the channel is closed.
-    #[allow(dead_code)]
-    pub fn recv(&self) -> Result<DynamicMessage, flume::RecvError> {
-        self.message_rx.recv()
-    }
-
-    /// Try to receive a message without blocking
-    ///
-    /// Returns `Ok(Some(msg))` if a message is available,
-    /// `Ok(None)` if no message is ready,
-    /// or `Err` if the channel is closed.
-    pub fn try_recv(&self) -> Result<Option<DynamicMessage>, flume::TryRecvError> {
-        match self.message_rx.try_recv() {
-            Ok(msg) => Ok(Some(msg)),
-            Err(flume::TryRecvError::Empty) => Ok(None),
-            Err(e) => Err(e),
-        }
-    }
-
-    /// Check if there are any messages waiting
-    #[allow(dead_code)]
-    pub fn has_messages(&self) -> bool {
-        !self.message_rx.is_empty()
-    }
-
-    /// Get the number of messages currently buffered
-    #[allow(dead_code)]
-    pub fn message_count(&self) -> usize {
-        self.message_rx.len()
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    // Note: Integration tests would require a running ROS system
-    // Unit tests are limited for this component
-}
diff --git a/crates/ros-z-console/src/core/engine.rs b/crates/ros-z-console/src/core/engine.rs
index af8977a5..be40d4c8 100644
--- a/crates/ros-z-console/src/core/engine.rs
+++ b/crates/ros-z-console/src/core/engine.rs
@@ -8,12 +8,10 @@ use std::{
 };
 
 use parking_lot::Mutex;
-use ros_z::{Builder, context::ZContext, graph::Graph, node::ZNode};
+use ros_z::{Builder, context::ZContext, dynamic::DynSubBuilder, graph::Graph, node::ZNode};
 use tokio::sync::broadcast;
 
-use super::{
-    dynamic_subscriber::DynamicTopicSubscriber, events::SystemEvent, metrics::MetricsCollector,
-};
+use super::{events::SystemEvent, metrics::MetricsCollector};
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq, Default)]
 pub enum Backend {
@@ -133,12 +131,14 @@ impl CoreEngine {
     /// # Errors
     ///
     /// Returns error if schema discovery fails or subscriber creation fails
-    pub async fn create_dynamic_subscriber(
+    pub async fn create_dynamic_subscriber_builder(
         &self,
         topic: &str,
         discovery_timeout: Duration,
-    ) -> Result<DynamicTopicSubscriber, Box<dyn std::error::Error + Send + Sync>> {
-        DynamicTopicSubscriber::new(&self.node, topic, discovery_timeout).await
+    ) -> Result<DynSubBuilder, Box<dyn std::error::Error + Send + Sync>> {
+        self.node
+            .create_dyn_sub_auto(topic, discovery_timeout)
+            .await
     }
 
     pub async fn start_monitoring(&self) {
diff --git a/crates/ros-z-console/src/core/message_formatter.rs b/crates/ros-z-console/src/core/message_formatter.rs
index 896636bc..6a83a3da 100644
--- a/crates/ros-z-console/src/core/message_formatter.rs
+++ b/crates/ros-z-console/src/core/message_formatter.rs
@@ -2,7 +2,9 @@
 //!
 //! Provides JSON and human-readable text formatting for dynamic messages.
 
-use ros_z::dynamic::{DynamicMessage, DynamicValue};
+use ros_z::dynamic::{
+    DynamicMessage, DynamicNamedValue, DynamicValue, EnumPayloadValue, EnumValue,
+};
 use serde_json;
 
 /// Convert a DynamicMessage to a JSON value
@@ -47,12 +49,45 @@ pub fn dynamic_value_to_json(value: &DynamicValue) -> serde_json::Value {
             )
         }
         DynamicValue::Message(msg) => dynamic_message_to_json(msg),
+        DynamicValue::Optional(None) => serde_json::Value::Null,
+        DynamicValue::Optional(Some(value)) => dynamic_value_to_json(value),
+        DynamicValue::Enum(value) => enum_value_to_json(value),
         DynamicValue::Array(arr) => {
             serde_json::Value::Array(arr.iter().map(dynamic_value_to_json).collect())
         }
     }
 }
 
+fn enum_value_to_json(value: &EnumValue) -> serde_json::Value {
+    let mut fields = serde_json::Map::new();
+    fields.insert(
+        "variant_index".to_string(),
+        serde_json::Value::Number(value.variant_index.into()),
+    );
+    fields.insert(
+        "variant_name".to_string(),
+        serde_json::Value::String(value.variant_name.clone()),
+    );
+    fields.insert("payload".to_string(), enum_payload_to_json(&value.payload));
+    serde_json::Value::Object(fields)
+}
+
+fn enum_payload_to_json(payload: &EnumPayloadValue) -> serde_json::Value {
+    match payload {
+        EnumPayloadValue::Unit => serde_json::Value::Null,
+        EnumPayloadValue::Newtype(value) => dynamic_value_to_json(value),
+        EnumPayloadValue::Tuple(values) => {
+            serde_json::Value::Array(values.iter().map(dynamic_value_to_json).collect())
+        }
+        EnumPayloadValue::Struct(fields) => serde_json::Value::Object(
+            fields
+                .iter()
+                .map(|field| (field.name.clone(), dynamic_value_to_json(&field.value)))
+                .collect(),
+        ),
+    }
+}
+
 /// Format a DynamicMessage as human-readable indented text
 ///
 /// Produces output like:
@@ -121,6 +156,11 @@ fn format_value_pretty(output: &mut String, name: &str, value: &DynamicValue, in
                 format_value_pretty(output, n, v, indent + 1);
             }
         }
+        DynamicValue::Optional(None) => {
+            output.push_str(&format!("{}{}: null\n", prefix, name));
+        }
+        DynamicValue::Optional(Some(value)) => format_value_pretty(output, name, value, indent),
+        DynamicValue::Enum(value) => format_enum_value_pretty(output, name, value, indent),
         DynamicValue::Array(arr) => {
             if arr.is_empty() {
                 output.push_str(&format!("{}{}[]: []\n", prefix, name));
@@ -134,10 +174,59 @@ fn format_value_pretty(output: &mut String, name: &str, value: &DynamicValue, in
     }
 }
 
+fn format_enum_value_pretty(output: &mut String, name: &str, value: &EnumValue, indent: usize) {
+    let prefix = "  ".repeat(indent);
+    output.push_str(&format!("{}{}:\n", prefix, name));
+    output.push_str(&format!("{}  variant: {}\n", prefix, value.variant_name));
+    format_enum_payload_pretty(output, &value.payload, indent + 1);
+}
+
+fn format_enum_payload_pretty(output: &mut String, payload: &EnumPayloadValue, indent: usize) {
+    let prefix = "  ".repeat(indent);
+
+    match payload {
+        EnumPayloadValue::Unit => {
+            output.push_str(&format!("{}payload: null\n", prefix));
+        }
+        EnumPayloadValue::Newtype(value) => {
+            format_value_pretty(output, "payload", value, indent);
+        }
+        EnumPayloadValue::Tuple(values) => {
+            if values.is_empty() {
+                output.push_str(&format!("{}payload[]: []\n", prefix));
+            } else {
+                output.push_str(&format!("{}payload[{}]:\n", prefix, values.len()));
+                for (index, value) in values.iter().enumerate() {
+                    format_value_pretty(output, &format!("[{}]", index), value, indent + 1);
+                }
+            }
+        }
+        EnumPayloadValue::Struct(fields) => {
+            if fields.is_empty() {
+                output.push_str(&format!("{}payload: {{}}\n", prefix));
+            } else {
+                output.push_str(&format!("{}payload:\n", prefix));
+                format_named_fields_pretty(output, fields, indent + 1);
+            }
+        }
+    }
+}
+
+fn format_named_fields_pretty(output: &mut String, fields: &[DynamicNamedValue], indent: usize) {
+    for field in fields {
+        format_value_pretty(output, &field.name, &field.value, indent);
+    }
+}
+
 #[cfg(test)]
 mod tests {
+    use std::sync::Arc;
+
     use super::*;
-    use ros_z::dynamic::{FieldType, MessageSchema};
+    use ros_z::dynamic::{
+        EnumPayloadValue, EnumSchema, EnumValue, EnumVariantSchema, FieldSchema, FieldType,
+        MessageSchema,
+    };
 
     #[test]
     fn test_json_primitives() {
@@ -204,4 +293,67 @@ mod tests {
         assert!(formatted.contains("linear:"));
         assert!(formatted.contains("  x: 1"));
     }
+
+    #[test]
+    fn test_json_optional_and_enum_values() {
+        let optional = DynamicValue::Optional(Some(Box::new(DynamicValue::Int32(7))));
+        assert_eq!(dynamic_value_to_json(&optional), serde_json::json!(7));
+
+        let enum_value = DynamicValue::Enum(EnumValue::new(
+            1,
+            "Error",
+            EnumPayloadValue::Struct(vec![crate::dynamic::DynamicNamedValue {
+                name: "code".to_string(),
+                value: DynamicValue::Uint32(42),
+            }]),
+        ));
+        let json = dynamic_value_to_json(&enum_value);
+        assert_eq!(json["variant_index"], 1);
+        assert_eq!(json["variant_name"], "Error");
+        assert_eq!(json["payload"]["code"], 42);
+    }
+
+    #[test]
+    fn test_pretty_format_optional_and_enum_fields() {
+        let status_schema = Arc::new(EnumSchema::new(
+            "test_msgs/msg/Status",
+            vec![
+                EnumVariantSchema::new("Idle", crate::dynamic::EnumPayloadSchema::Unit),
+                EnumVariantSchema::new(
+                    "Error",
+                    crate::dynamic::EnumPayloadSchema::Struct(vec![FieldSchema::new(
+                        "code",
+                        FieldType::Uint32,
+                    )]),
+                ),
+            ],
+        ));
+
+        let schema = MessageSchema::builder("test_msgs/msg/State")
+            .field("nickname", FieldType::Optional(Box::new(FieldType::String)))
+            .field("status", FieldType::Enum(status_schema))
+            .build()
+            .unwrap();
+
+        let mut msg = DynamicMessage::new(&schema);
+        msg.set("nickname", Some("ros-z".to_string())).unwrap();
+        msg.set(
+            "status",
+            EnumValue::new(
+                1,
+                "Error",
+                EnumPayloadValue::Struct(vec![crate::dynamic::DynamicNamedValue {
+                    name: "code".to_string(),
+                    value: DynamicValue::Uint32(5),
+                }]),
+            ),
+        )
+        .unwrap();
+
+        let formatted = format_message_pretty(&msg);
+        assert!(formatted.contains("nickname: \"ros-z\""));
+        assert!(formatted.contains("status:"));
+        assert!(formatted.contains("variant: Error"));
+        assert!(formatted.contains("code: 5"));
+    }
 }
diff --git a/crates/ros-z-console/src/core/mod.rs b/crates/ros-z-console/src/core/mod.rs
index 585ee335..68f1d92e 100644
--- a/crates/ros-z-console/src/core/mod.rs
+++ b/crates/ros-z-console/src/core/mod.rs
@@ -1,4 +1,3 @@
-pub mod dynamic_subscriber;
 pub mod engine;
 pub mod events;
 pub mod logger;
diff --git a/crates/ros-z-console/src/export.rs b/crates/ros-z-console/src/export.rs
index 43259675..a2867ad6 100644
--- a/crates/ros-z-console/src/export.rs
+++ b/crates/ros-z-console/src/export.rs
@@ -69,8 +69,10 @@ async fn export_dot(
 
         // Publishers -> Topic
         for entity in graph.get_entities_by_topic(EntityKind::Publisher, &topic) {
-            if let Some(endpoint) = entity_get_endpoint(&entity) {
-                let node_id = format!("{}/{}", endpoint.node.namespace, endpoint.node.name);
+            if let Some(endpoint) = entity_get_endpoint(&entity)
+                && let Some(node) = endpoint.node.as_ref()
+            {
+                let node_id = format!("{}/{}", node.namespace, node.name);
                 dot.push_str(&format!(
                     "  \"{}\" -> \"topic:{}\" [color=blue];\n",
                     node_id, topic
@@ -80,8 +82,10 @@ async fn export_dot(
 
         // Topic -> Subscribers
         for entity in graph.get_entities_by_topic(EntityKind::Subscription, &topic) {
-            if let Some(endpoint) = entity_get_endpoint(&entity) {
-                let node_id = format!("{}/{}", endpoint.node.namespace, endpoint.node.name);
+            if let Some(endpoint) = entity_get_endpoint(&entity)
+                && let Some(node) = endpoint.node.as_ref()
+            {
+                let node_id = format!("{}/{}", node.namespace, node.name);
                 dot.push_str(&format!(
                     "  \"topic:{}\" -> \"{}\" [color=green];\n",
                     topic, node_id
diff --git a/crates/ros-z-console/src/modes/headless.rs b/crates/ros-z-console/src/modes/headless.rs
index 7e3377f1..567b198c 100644
--- a/crates/ros-z-console/src/modes/headless.rs
+++ b/crates/ros-z-console/src/modes/headless.rs
@@ -1,9 +1,12 @@
 use chrono::Utc;
+use ros_z::{
+    Builder,
+    dynamic::{DynSub, MessageSchemaTypeDescription},
+};
 use serde::Serialize;
 use std::{collections::HashMap, time::Duration};
 
 use crate::core::{
-    dynamic_subscriber::DynamicTopicSubscriber,
     engine::CoreEngine,
     message_formatter::{dynamic_message_to_json, format_message_pretty},
 };
@@ -40,7 +43,7 @@ pub async fn run_headless_mode(
     }
 
     // Create dynamic subscribers for echo topics
-    let mut subscribers: HashMap<String, DynamicTopicSubscriber> = HashMap::new();
+    let mut subscribers: HashMap<String, DynSub> = HashMap::new();
 
     if !echo_topics.is_empty() {
         tracing::info!(
@@ -50,28 +53,43 @@ pub async fn run_headless_mode(
 
         for topic in echo_topics {
             match core
-                .create_dynamic_subscriber(&topic, Duration::from_secs(5))
+                .create_dynamic_subscriber_builder(&topic, Duration::from_secs(5))
                 .await
             {
                 Ok(sub) => {
+                    let sub = match sub.build() {
+                        Ok(sub) => sub,
+                        Err(e) => {
+                            eprintln!("Failed to build subscriber for {}: {}", topic, e);
+                            continue;
+                        }
+                    };
+                    let Some(schema) = sub.schema() else {
+                        eprintln!(
+                            "Failed to inspect schema for {}: missing dynamic schema",
+                            topic
+                        );
+                        continue;
+                    };
+                    let type_hash = schema
+                        .compute_type_hash()
+                        .map(|hash| hash.to_rihs_string())
+                        .unwrap_or_else(|_| "unknown".to_string());
                     if json {
                         // Output schema info
                         let schema_info = serde_json::json!({
                             "event": "topic_subscribed",
                             "topic": topic,
-                            "type_name": sub.schema().type_name,
-                            "type_hash": sub.type_hash(),
-                            "fields": sub.schema().field_names().collect::<Vec<_>>(),
+                            "type_name": schema.type_name,
+                            "type_hash": type_hash,
+                            "fields": schema.field_names().collect::<Vec<_>>(),
                         });
                         println!("{}", serde_json::to_string(&schema_info)?);
                     } else {
                         println!("\n=== Subscribed to {} ===", topic);
-                        println!("Type: {}", sub.schema().type_name);
-                        println!("Hash: {}", sub.type_hash());
-                        println!(
-                            "Fields: {:?}",
-                            sub.schema().field_names().collect::<Vec<_>>()
-                        );
+                        println!("Type: {}", schema.type_name);
+                        println!("Hash: {}", type_hash);
+                        println!("Fields: {:?}", schema.field_names().collect::<Vec<_>>());
                         println!();
                     }
                     subscribers.insert(topic.clone(), sub);
@@ -117,20 +135,27 @@ pub async fn run_headless_mode(
                 // Handle echo messages
                 _ = async {
                     for (topic, subscriber) in &subscribers {
-                        if let Ok(Some(msg)) = subscriber.try_recv() {
-                            if json {
-                                let msg_json = serde_json::json!({
-                                    "event": "message_received",
-                                    "topic": topic,
-                                    "type": msg.schema().type_name,
-                                    "data": dynamic_message_to_json(&msg),
-                                });
-                                if let Ok(json_str) = serde_json::to_string(&msg_json) {
-                                    println!("{}", json_str);
+                        if let Some(result) = subscriber.try_recv() {
+                            match result {
+                                Ok(msg) => {
+                                    if json {
+                                        let msg_json = serde_json::json!({
+                                            "event": "message_received",
+                                            "topic": topic,
+                                            "type": msg.schema().type_name,
+                                            "data": dynamic_message_to_json(&msg),
+                                        });
+                                        if let Ok(json_str) = serde_json::to_string(&msg_json) {
+                                            println!("{}", json_str);
+                                        }
+                                    } else {
+                                        println!("\n=== {} ===", topic);
+                                        print!("{}", format_message_pretty(&msg));
+                                    }
+                                }
+                                Err(error) => {
+                                    eprintln!("Failed to receive from {}: {}", topic, error);
                                 }
-                            } else {
-                                println!("\n=== {} ===", topic);
-                                print!("{}", format_message_pretty(&msg));
                             }
                         }
                     }
diff --git a/crates/ros-z-derive/src/lib.rs b/crates/ros-z-derive/src/lib.rs
index 667ab782..ac6cd3bf 100644
--- a/crates/ros-z-derive/src/lib.rs
+++ b/crates/ros-z-derive/src/lib.rs
@@ -1,18 +1,51 @@
-//! Derive macros for Python message bridge traits
+//! Derive macros for ros-z traits.
 //!
-//! Provides `FromPyMessage` and `IntoPyMessage` derive macros for automatic
-//! conversion between Python msgspec structs and Rust ROS message types.
+//! Provides:
+//! - `MessageTypeInfo` for Rust-native message schema generation
+//! - `FromPyMessage` and `IntoPyMessage` for Python bridge conversion
 
 #![allow(clippy::collapsible_if)]
 
 use proc_macro::TokenStream;
 use quote::quote;
 use syn::{
-    Attribute, Data, DeriveInput, Fields, GenericArgument, Ident, Lit, Meta, PathArguments, Type,
-    parse_macro_input,
+    Attribute, Data, DeriveInput, Expr, Fields, GenericArgument, Ident, LitStr, PathArguments,
+    Type, parse_macro_input,
 };
 
-/// Derive macro for extracting Rust messages from Python objects
+type TokenStream2 = proc_macro2::TokenStream;
+
+/// Derive macro for implementing ros-z message metadata and dynamic schema generation.
+///
+/// # Example
+/// ```ignore
+/// #[derive(MessageTypeInfo)]
+/// #[ros_msg(type_name = "custom_msgs/msg/RobotStatus")]
+/// pub struct RobotStatus {
+///     pub battery_percentage: f64,
+///     pub is_moving: bool,
+/// }
+/// ```
+#[proc_macro_derive(MessageTypeInfo, attributes(ros_msg))]
+pub fn derive_message_type_info(input: TokenStream) -> TokenStream {
+    let input = parse_macro_input!(input as DeriveInput);
+    match impl_standard_message_type_info(&input) {
+        Ok(tokens) => tokens.into(),
+        Err(err) => err.to_compile_error().into(),
+    }
+}
+
+/// Derive macro for implementing ros-z extended message schema generation.
+#[proc_macro_derive(ExtendedMessageTypeInfo, attributes(ros_msg))]
+pub fn derive_extended_message_type_info(input: TokenStream) -> TokenStream {
+    let input = parse_macro_input!(input as DeriveInput);
+    match impl_message_type_info(&input) {
+        Ok(tokens) => tokens.into(),
+        Err(err) => err.to_compile_error().into(),
+    }
+}
+
+/// Derive macro for extracting Rust messages from Python objects.
 ///
 /// # Example
 /// ```ignore
@@ -31,7 +64,7 @@ pub fn derive_from_py_message(input: TokenStream) -> TokenStream {
     }
 }
 
-/// Derive macro for constructing Python objects from Rust messages
+/// Derive macro for constructing Python objects from Rust messages.
 ///
 /// # Example
 /// ```ignore
@@ -50,7 +83,365 @@ pub fn derive_into_py_message(input: TokenStream) -> TokenStream {
     }
 }
 
-fn impl_from_py_message(input: &DeriveInput) -> syn::Result<proc_macro2::TokenStream> {
+fn impl_message_type_info(input: &DeriveInput) -> syn::Result<TokenStream2> {
+    let name = &input.ident;
+
+    if !input.generics.params.is_empty() {
+        return Err(syn::Error::new_spanned(
+            &input.generics,
+            "ExtendedMessageTypeInfo derive does not support generic types in v1",
+        ));
+    }
+
+    let attrs = parse_ros_msg_args(&input.attrs)?;
+    let canonical_type_name = attrs.type_name.ok_or_else(|| {
+        syn::Error::new_spanned(
+            input,
+            "ExtendedMessageTypeInfo derive requires #[ros_msg(type_name = \"my_pkg/msg/MyType\")]",
+        )
+    })?;
+    let type_name_lit = LitStr::new(&canonical_type_name, proc_macro2::Span::call_site());
+    let (package, _kind, message_name) = parse_canonical_type_name(&canonical_type_name)?;
+    let dds_type_name = canonical_to_dds_name(&canonical_type_name)?;
+    let package_lit = LitStr::new(&package, proc_macro2::Span::call_site());
+    let message_name_lit = LitStr::new(&message_name, proc_macro2::Span::call_site());
+    let dds_type_name_lit = LitStr::new(&dds_type_name, proc_macro2::Span::call_site());
+
+    match &input.data {
+        Data::Struct(data) => impl_message_type_info_for_struct(
+            name,
+            data,
+            &type_name_lit,
+            &package_lit,
+            &message_name_lit,
+            &dds_type_name_lit,
+        ),
+        Data::Enum(data) => impl_message_type_info_for_enum(
+            name,
+            data,
+            &type_name_lit,
+            &package_lit,
+            &message_name_lit,
+            &dds_type_name_lit,
+        ),
+        Data::Union(_) => Err(syn::Error::new_spanned(
+            input,
+            "ExtendedMessageTypeInfo derive does not support unions",
+        )),
+    }
+}
+
+fn impl_standard_message_type_info(input: &DeriveInput) -> syn::Result<TokenStream2> {
+    let name = &input.ident;
+
+    if !input.generics.params.is_empty() {
+        return Err(syn::Error::new_spanned(
+            &input.generics,
+            "MessageTypeInfo derive does not support generic types in v1",
+        ));
+    }
+
+    let attrs = parse_ros_msg_args(&input.attrs)?;
+    let canonical_type_name = attrs.type_name.ok_or_else(|| {
+        syn::Error::new_spanned(
+            input,
+            "MessageTypeInfo derive requires #[ros_msg(type_name = \"my_pkg/msg/MyType\")]",
+        )
+    })?;
+    let type_name_lit = LitStr::new(&canonical_type_name, proc_macro2::Span::call_site());
+    let (package, _kind, message_name) = parse_canonical_type_name(&canonical_type_name)?;
+    let dds_type_name = canonical_to_dds_name(&canonical_type_name)?;
+    let package_lit = LitStr::new(&package, proc_macro2::Span::call_site());
+    let message_name_lit = LitStr::new(&message_name, proc_macro2::Span::call_site());
+    let dds_type_name_lit = LitStr::new(&dds_type_name, proc_macro2::Span::call_site());
+
+    let Data::Struct(data) = &input.data else {
+        return Err(syn::Error::new_spanned(
+            input,
+            "MessageTypeInfo derive only supports named structs in v1",
+        ));
+    };
+
+    let Fields::Named(fields) = &data.fields else {
+        let message = match &data.fields {
+            Fields::Unnamed(_) => "MessageTypeInfo derive does not support tuple structs in v1",
+            Fields::Unit => "MessageTypeInfo derive does not support unit structs in v1",
+            Fields::Named(_) => unreachable!(),
+        };
+        return Err(syn::Error::new_spanned(input, message));
+    };
+
+    let schema_fields = fields
+        .named
+        .iter()
+        .map(generate_standard_message_field_schema_tokens)
+        .collect::<syn::Result<Vec<_>>>()?;
+
+    let message_type_hash_impl = standard_message_type_hash_impl_tokens();
+
+    Ok(quote! {
+        impl ::ros_z::MessageTypeInfo for #name {
+            fn type_name() -> &'static str {
+                #dds_type_name_lit
+            }
+
+            #message_type_hash_impl
+
+            fn message_schema() -> Option<::std::sync::Arc<::ros_z::dynamic::MessageSchema>> {
+                static SCHEMA: ::std::sync::OnceLock<::std::sync::Arc<::ros_z::dynamic::MessageSchema>> =
+                    ::std::sync::OnceLock::new();
+
+                Some(
+                    SCHEMA
+                        .get_or_init(|| {
+                            ::std::sync::Arc::new(::ros_z::dynamic::MessageSchema {
+                                type_name: #type_name_lit.to_string(),
+                                package: #package_lit.to_string(),
+                                name: #message_name_lit.to_string(),
+                                fields: ::std::vec![#(#schema_fields),*],
+                                type_hash: None,
+                            })
+                        })
+                        .clone(),
+                )
+            }
+        }
+
+        impl ::ros_z::WithTypeInfo for #name {}
+    })
+}
+
+fn impl_message_type_info_for_struct(
+    name: &Ident,
+    data: &syn::DataStruct,
+    type_name_lit: &LitStr,
+    package_lit: &LitStr,
+    message_name_lit: &LitStr,
+    dds_type_name_lit: &LitStr,
+) -> syn::Result<TokenStream2> {
+    let message_type_hash_impl = extended_message_type_hash_impl_tokens();
+
+    let Fields::Named(fields) = &data.fields else {
+        let message = match &data.fields {
+            Fields::Unnamed(_) => {
+                "ExtendedMessageTypeInfo derive does not support tuple structs in v1"
+            }
+            Fields::Unit => "ExtendedMessageTypeInfo derive does not support unit structs in v1",
+            Fields::Named(_) => unreachable!(),
+        };
+        return Err(syn::Error::new_spanned(name, message));
+    };
+
+    let schema_fields = fields
+        .named
+        .iter()
+        .map(generate_message_field_schema_tokens)
+        .collect::<syn::Result<Vec<_>>>()?;
+
+    Ok(quote! {
+        impl ::ros_z::ExtendedMessageTypeInfo for #name {
+            fn extended_message_schema() -> ::std::sync::Arc<::ros_z::dynamic::MessageSchema> {
+                static SCHEMA: ::std::sync::OnceLock<::std::sync::Arc<::ros_z::dynamic::MessageSchema>> =
+                    ::std::sync::OnceLock::new();
+
+                SCHEMA
+                    .get_or_init(|| {
+                        ::std::sync::Arc::new(::ros_z::dynamic::MessageSchema {
+                            type_name: #type_name_lit.to_string(),
+                            package: #package_lit.to_string(),
+                            name: #message_name_lit.to_string(),
+                            fields: ::std::vec![#(#schema_fields),*],
+                            type_hash: None,
+                        })
+                    })
+                    .clone()
+            }
+        }
+
+        impl ::ros_z::MessageTypeInfo for #name {
+            fn type_name() -> &'static str {
+                #dds_type_name_lit
+            }
+
+            #message_type_hash_impl
+
+            fn message_schema() -> Option<::std::sync::Arc<::ros_z::dynamic::MessageSchema>> {
+                let schema = <Self as ::ros_z::ExtendedMessageTypeInfo>::extended_message_schema();
+                if schema.uses_extended_types() {
+                    None
+                } else {
+                    Some(schema)
+                }
+            }
+
+            fn register_type_extensions(node: &::ros_z::node::ZNode) -> ::std::result::Result<(), ::std::string::String> {
+                let schema = <Self as ::ros_z::ExtendedMessageTypeInfo>::extended_message_schema();
+                if schema.uses_extended_types() {
+                    ::ros_z::extended_schema::register_type::<Self>(node)
+                } else {
+                    Ok(())
+                }
+            }
+        }
+
+        impl ::ros_z::WithTypeInfo for #name {}
+    })
+}
+
+fn impl_message_type_info_for_enum(
+    name: &Ident,
+    data: &syn::DataEnum,
+    type_name_lit: &LitStr,
+    package_lit: &LitStr,
+    message_name_lit: &LitStr,
+    dds_type_name_lit: &LitStr,
+) -> syn::Result<TokenStream2> {
+    let message_type_hash_impl = extended_message_type_hash_impl_tokens();
+
+    if data.variants.is_empty() {
+        return Err(syn::Error::new_spanned(
+            name,
+            "ExtendedMessageTypeInfo derive requires enums to have at least one variant",
+        ));
+    }
+
+    let variant_tokens = data
+        .variants
+        .iter()
+        .map(generate_enum_variant_schema_tokens)
+        .collect::<syn::Result<Vec<_>>>()?;
+
+    Ok(quote! {
+        impl #name {
+            fn __ros_z_enum_schema() -> ::std::sync::Arc<::ros_z::dynamic::EnumSchema> {
+                static ENUM_SCHEMA: ::std::sync::OnceLock<::std::sync::Arc<::ros_z::dynamic::EnumSchema>> =
+                    ::std::sync::OnceLock::new();
+
+                ENUM_SCHEMA
+                    .get_or_init(|| {
+                        ::std::sync::Arc::new(::ros_z::dynamic::EnumSchema {
+                            type_name: #type_name_lit.to_string(),
+                            variants: ::std::vec![#(#variant_tokens),*],
+                        })
+                    })
+                    .clone()
+            }
+        }
+
+        impl ::ros_z::ExtendedMessageTypeInfo for #name {
+            fn extended_message_schema() -> ::std::sync::Arc<::ros_z::dynamic::MessageSchema> {
+                static SCHEMA: ::std::sync::OnceLock<::std::sync::Arc<::ros_z::dynamic::MessageSchema>> =
+                    ::std::sync::OnceLock::new();
+
+                SCHEMA
+                    .get_or_init(|| {
+                        ::std::sync::Arc::new(::ros_z::dynamic::MessageSchema {
+                            type_name: #type_name_lit.to_string(),
+                            package: #package_lit.to_string(),
+                            name: #message_name_lit.to_string(),
+                            fields: ::std::vec![
+                                ::ros_z::dynamic::FieldSchema::new(
+                                    "value",
+                                    ::ros_z::dynamic::FieldType::Enum(Self::__ros_z_enum_schema()),
+                                )
+                            ],
+                            type_hash: None,
+                        })
+                    })
+                    .clone()
+            }
+
+            fn extended_field_type() -> ::ros_z::dynamic::FieldType {
+                ::ros_z::dynamic::FieldType::Enum(Self::__ros_z_enum_schema())
+            }
+        }
+
+        impl ::ros_z::MessageTypeInfo for #name {
+            fn type_name() -> &'static str {
+                #dds_type_name_lit
+            }
+
+            #message_type_hash_impl
+
+            fn message_schema() -> Option<::std::sync::Arc<::ros_z::dynamic::MessageSchema>> {
+                None
+            }
+
+            fn register_type_extensions(node: &::ros_z::node::ZNode) -> ::std::result::Result<(), ::std::string::String> {
+                ::ros_z::extended_schema::register_type::<Self>(node)
+            }
+        }
+
+        impl ::ros_z::WithTypeInfo for #name {}
+    })
+}
+
+fn standard_message_type_hash_impl_tokens() -> TokenStream2 {
+    quote! {
+        fn type_hash() -> ::ros_z::entity::TypeHash {
+            let zero = ::ros_z::entity::TypeHash::zero();
+            if zero.to_rihs_string() == "TypeHashNotSupported" {
+                return zero;
+            }
+
+            static TYPE_HASH: ::std::sync::OnceLock<::ros_z::entity::TypeHash> =
+                ::std::sync::OnceLock::new();
+
+            TYPE_HASH
+                .get_or_init(|| {
+                    use ::ros_z::dynamic::MessageSchemaTypeDescription;
+
+                    let schema = Self::message_schema()
+                        .expect("derived message schema must be available");
+                    let rihs = schema
+                        .compute_type_hash()
+                        .expect("derived message schema must produce a type hash")
+                        .to_rihs_string();
+
+                    ::ros_z::entity::TypeHash::from_rihs_string(&rihs)
+                        .expect("derived message hash must be a valid RIHS01 string")
+                })
+                .clone()
+        }
+    }
+}
+
+fn extended_message_type_hash_impl_tokens() -> TokenStream2 {
+    quote! {
+        fn type_hash() -> ::ros_z::entity::TypeHash {
+            let zero = ::ros_z::entity::TypeHash::zero();
+            if zero.to_rihs_string() == "TypeHashNotSupported" {
+                return zero;
+            }
+
+            static TYPE_HASH: ::std::sync::OnceLock<::ros_z::entity::TypeHash> =
+                ::std::sync::OnceLock::new();
+
+            TYPE_HASH
+                .get_or_init(|| {
+                    let schema = <Self as ::ros_z::ExtendedMessageTypeInfo>::extended_message_schema();
+                    let hash = if schema.uses_extended_types() {
+                        ::ros_z::extended_schema::compute_extended_type_hash(&schema)
+                            .expect("extended message schema must produce a type hash")
+                            .to_rihs_string()
+                    } else {
+                        use ::ros_z::dynamic::MessageSchemaTypeDescription;
+
+                        schema
+                            .compute_type_hash()
+                            .expect("standard-compatible extended schema must produce a standard type hash")
+                            .to_rihs_string()
+                    };
+
+                    ::ros_z::entity::TypeHash::from_rihs_string(&hash)
+                        .expect("extended message hash must be a valid RIHS01 string")
+                })
+                .clone()
+        }
+    }
+}
+
+fn impl_from_py_message(input: &DeriveInput) -> syn::Result<TokenStream2> {
     let name = &input.ident;
 
     let Data::Struct(ref data) = input.data else {
@@ -67,17 +458,14 @@ fn impl_from_py_message(input: &DeriveInput) -> syn::Result<proc_macro2::TokenSt
         ));
     };
 
-    let field_extractions: Vec<proc_macro2::TokenStream> = fields
+    let field_extractions: Vec<TokenStream2> = fields
         .named
         .iter()
         .map(|f| {
             let field_name = f.ident.as_ref().unwrap();
-            let field_name_str = field_name_to_py_attr(field_name);
+            let field_name_str = field_name_to_attr(field_name);
             let field_type = &f.ty;
-
-            // Check for #[ros_msg(zbuf)] attribute
-            let use_zbuf = has_ros_msg_attr(&f.attrs, "zbuf");
-
+            let use_zbuf = parse_ros_msg_args(&f.attrs)?.zbuf;
             generate_field_extraction(field_name, &field_name_str, field_type, use_zbuf)
         })
         .collect::<syn::Result<Vec<_>>>()?;
@@ -94,7 +482,7 @@ fn impl_from_py_message(input: &DeriveInput) -> syn::Result<proc_macro2::TokenSt
     })
 }
 
-fn impl_into_py_message(input: &DeriveInput) -> syn::Result<proc_macro2::TokenStream> {
+fn impl_into_py_message(input: &DeriveInput) -> syn::Result<TokenStream2> {
     let name = &input.ident;
 
     let Data::Struct(ref data) = input.data else {
@@ -111,20 +499,16 @@ fn impl_into_py_message(input: &DeriveInput) -> syn::Result<proc_macro2::TokenSt
         ));
     };
 
-    // Extract module path from #[ros_msg(module = "...")] attribute
     let module_path = extract_module_path(&input.attrs)?;
 
-    let field_constructions: Vec<proc_macro2::TokenStream> = fields
+    let field_constructions: Vec<TokenStream2> = fields
         .named
         .iter()
         .map(|f| {
             let field_name = f.ident.as_ref().unwrap();
-            let field_name_str = field_name_to_py_attr(field_name);
+            let field_name_str = field_name_to_attr(field_name);
             let field_type = &f.ty;
-
-            // Check for #[ros_msg(zbuf)] attribute
-            let use_zbuf = has_ros_msg_attr(&f.attrs, "zbuf");
-
+            let use_zbuf = parse_ros_msg_args(&f.attrs)?.zbuf;
             generate_field_construction(field_name, &field_name_str, field_type, use_zbuf)
         })
         .collect::<syn::Result<Vec<_>>>()?;
@@ -147,29 +531,341 @@ fn impl_into_py_message(input: &DeriveInput) -> syn::Result<proc_macro2::TokenSt
     })
 }
 
-/// Generate extraction code for a single field
+fn generate_standard_message_field_schema_tokens(field: &syn::Field) -> syn::Result<TokenStream2> {
+    let field_name = field
+        .ident
+        .as_ref()
+        .ok_or_else(|| syn::Error::new_spanned(field, "named fields are required"))?;
+    let field_name_str = field_name_to_attr(field_name);
+    let field_type = generate_standard_message_field_type_tokens(&field.ty)?;
+
+    Ok(quote! {
+        ::ros_z::dynamic::FieldSchema::new(#field_name_str, #field_type)
+    })
+}
+
+fn generate_standard_message_field_type_tokens(ty: &Type) -> syn::Result<TokenStream2> {
+    match ty {
+        Type::Path(type_path) => {
+            if type_path.qself.is_some() {
+                return unsupported_message_type(
+                    ty,
+                    "qualified self types are not supported in v1",
+                );
+            }
+
+            let last_segment = type_path.path.segments.last().ok_or_else(|| {
+                syn::Error::new_spanned(
+                    ty,
+                    "unsupported field type for ExtendedMessageTypeInfo derive",
+                )
+            })?;
+            let ident_str = last_segment.ident.to_string();
+
+            match ident_str.as_str() {
+                "bool" => Ok(quote! { ::ros_z::dynamic::FieldType::Bool }),
+                "i8" => Ok(quote! { ::ros_z::dynamic::FieldType::Int8 }),
+                "u8" => Ok(quote! { ::ros_z::dynamic::FieldType::Uint8 }),
+                "i16" => Ok(quote! { ::ros_z::dynamic::FieldType::Int16 }),
+                "u16" => Ok(quote! { ::ros_z::dynamic::FieldType::Uint16 }),
+                "i32" => Ok(quote! { ::ros_z::dynamic::FieldType::Int32 }),
+                "u32" => Ok(quote! { ::ros_z::dynamic::FieldType::Uint32 }),
+                "i64" => Ok(quote! { ::ros_z::dynamic::FieldType::Int64 }),
+                "u64" => Ok(quote! { ::ros_z::dynamic::FieldType::Uint64 }),
+                "f32" => Ok(quote! { ::ros_z::dynamic::FieldType::Float32 }),
+                "f64" => Ok(quote! { ::ros_z::dynamic::FieldType::Float64 }),
+                "String" => Ok(quote! { ::ros_z::dynamic::FieldType::String }),
+                "usize" | "isize" => unsupported_message_type(
+                    ty,
+                    "usize and isize are not supported by MessageTypeInfo derive in v1",
+                ),
+                "Option" => unsupported_message_type(
+                    ty,
+                    "Option fields are not supported by MessageTypeInfo derive in v1",
+                ),
+                "HashMap" | "BTreeMap" => unsupported_message_type(
+                    ty,
+                    "map fields are not supported by MessageTypeInfo derive in v1",
+                ),
+                "Vec" => {
+                    let PathArguments::AngleBracketed(args) = &last_segment.arguments else {
+                        return unsupported_message_type(
+                            ty,
+                            "Vec fields must specify an element type",
+                        );
+                    };
+                    let Some(GenericArgument::Type(inner)) = args.args.first() else {
+                        return unsupported_message_type(
+                            ty,
+                            "Vec fields must specify an element type",
+                        );
+                    };
+                    let inner_tokens = generate_standard_message_field_type_tokens(inner)?;
+                    Ok(quote! {
+                        ::ros_z::dynamic::FieldType::Sequence(::std::boxed::Box::new(#inner_tokens))
+                    })
+                }
+                _ => Ok(quote! {
+                    ::ros_z::dynamic::FieldType::Message(
+                        <#ty as ::ros_z::MessageTypeInfo>::message_schema()
+                            .expect("derived nested message schema must be available")
+                    )
+                }),
+            }
+        }
+        Type::Array(array) => {
+            let len = match &array.len {
+                Expr::Lit(expr_lit) => match &expr_lit.lit {
+                    syn::Lit::Int(value) => value.base10_parse::<usize>()?,
+                    _ => {
+                        return unsupported_message_type(
+                            ty,
+                            "array lengths must be integer literals for MessageTypeInfo derive",
+                        );
+                    }
+                },
+                _ => {
+                    return unsupported_message_type(
+                        ty,
+                        "array lengths must be integer literals for MessageTypeInfo derive",
+                    );
+                }
+            };
+
+            let inner_tokens = generate_standard_message_field_type_tokens(&array.elem)?;
+            Ok(quote! {
+                ::ros_z::dynamic::FieldType::Array(::std::boxed::Box::new(#inner_tokens), #len)
+            })
+        }
+        Type::Tuple(_) => unsupported_message_type(
+            ty,
+            "tuple fields are not supported by MessageTypeInfo derive in v1",
+        ),
+        _ => unsupported_message_type(
+            ty,
+            "unsupported field type for MessageTypeInfo derive in v1",
+        ),
+    }
+}
+
+fn generate_message_field_schema_tokens(field: &syn::Field) -> syn::Result<TokenStream2> {
+    let field_name = field
+        .ident
+        .as_ref()
+        .ok_or_else(|| syn::Error::new_spanned(field, "named fields are required"))?;
+    let field_name_str = field_name_to_attr(field_name);
+    let field_type = generate_message_field_type_tokens(&field.ty)?;
+
+    Ok(quote! {
+        ::ros_z::dynamic::FieldSchema::new(#field_name_str, #field_type)
+    })
+}
+
+fn generate_message_field_type_tokens(ty: &Type) -> syn::Result<TokenStream2> {
+    match ty {
+        Type::Path(type_path) => {
+            if type_path.qself.is_some() {
+                return unsupported_message_type(
+                    ty,
+                    "qualified self types are not supported by ExtendedMessageTypeInfo derive in v1",
+                );
+            }
+
+            let last_segment = type_path.path.segments.last().ok_or_else(|| {
+                syn::Error::new_spanned(
+                    ty,
+                    "unsupported field type for ExtendedMessageTypeInfo derive",
+                )
+            })?;
+            let ident_str = last_segment.ident.to_string();
+
+            match ident_str.as_str() {
+                "bool" => Ok(quote! { ::ros_z::dynamic::FieldType::Bool }),
+                "i8" => Ok(quote! { ::ros_z::dynamic::FieldType::Int8 }),
+                "u8" => Ok(quote! { ::ros_z::dynamic::FieldType::Uint8 }),
+                "i16" => Ok(quote! { ::ros_z::dynamic::FieldType::Int16 }),
+                "u16" => Ok(quote! { ::ros_z::dynamic::FieldType::Uint16 }),
+                "i32" => Ok(quote! { ::ros_z::dynamic::FieldType::Int32 }),
+                "u32" => Ok(quote! { ::ros_z::dynamic::FieldType::Uint32 }),
+                "i64" => Ok(quote! { ::ros_z::dynamic::FieldType::Int64 }),
+                "u64" => Ok(quote! { ::ros_z::dynamic::FieldType::Uint64 }),
+                "f32" => Ok(quote! { ::ros_z::dynamic::FieldType::Float32 }),
+                "f64" => Ok(quote! { ::ros_z::dynamic::FieldType::Float64 }),
+                "String" => Ok(quote! { ::ros_z::dynamic::FieldType::String }),
+                "usize" | "isize" => unsupported_message_type(
+                    ty,
+                    "usize and isize are not supported by ExtendedMessageTypeInfo derive in v1",
+                ),
+                "HashMap" | "BTreeMap" => unsupported_message_type(
+                    ty,
+                    "map fields are not supported by ExtendedMessageTypeInfo derive in v1",
+                ),
+                "Option" => {
+                    let PathArguments::AngleBracketed(args) = &last_segment.arguments else {
+                        return unsupported_message_type(
+                            ty,
+                            "Option fields must specify an inner type",
+                        );
+                    };
+                    let Some(GenericArgument::Type(inner)) = args.args.first() else {
+                        return unsupported_message_type(
+                            ty,
+                            "Option fields must specify an inner type",
+                        );
+                    };
+                    let inner_tokens = generate_message_field_type_tokens(inner)?;
+                    Ok(quote! {
+                        ::ros_z::dynamic::FieldType::Optional(::std::boxed::Box::new(#inner_tokens))
+                    })
+                }
+                "Vec" => {
+                    let PathArguments::AngleBracketed(args) = &last_segment.arguments else {
+                        return unsupported_message_type(
+                            ty,
+                            "Vec fields must specify an element type",
+                        );
+                    };
+                    let Some(GenericArgument::Type(inner)) = args.args.first() else {
+                        return unsupported_message_type(
+                            ty,
+                            "Vec fields must specify an element type",
+                        );
+                    };
+                    let inner_tokens = generate_message_field_type_tokens(inner)?;
+                    Ok(quote! {
+                        ::ros_z::dynamic::FieldType::Sequence(::std::boxed::Box::new(#inner_tokens))
+                    })
+                }
+                _ => Ok(quote! {
+                    <#ty as ::ros_z::ExtendedMessageTypeInfo>::extended_field_type()
+                }),
+            }
+        }
+        Type::Array(array) => {
+            let len = match &array.len {
+                Expr::Lit(expr_lit) => match &expr_lit.lit {
+                    syn::Lit::Int(value) => value.base10_parse::<usize>()?,
+                    _ => {
+                        return unsupported_message_type(
+                            ty,
+                            "array lengths must be integer literals for MessageTypeInfo derive",
+                        );
+                    }
+                },
+                _ => {
+                    return unsupported_message_type(
+                        ty,
+                        "array lengths must be integer literals for MessageTypeInfo derive",
+                    );
+                }
+            };
+
+            let inner_tokens = generate_message_field_type_tokens(&array.elem)?;
+            Ok(quote! {
+                ::ros_z::dynamic::FieldType::Array(::std::boxed::Box::new(#inner_tokens), #len)
+            })
+        }
+        Type::Tuple(_) => unsupported_message_type(
+            ty,
+            "tuple fields are not supported by ExtendedMessageTypeInfo derive in v1",
+        ),
+        _ => unsupported_message_type(
+            ty,
+            "unsupported field type for ExtendedMessageTypeInfo derive in v1",
+        ),
+    }
+}
+
+fn generate_enum_variant_schema_tokens(variant: &syn::Variant) -> syn::Result<TokenStream2> {
+    let variant_name = variant.ident.to_string();
+    let payload = match &variant.fields {
+        Fields::Unit => quote! { ::ros_z::dynamic::EnumPayloadSchema::Unit },
+        Fields::Unnamed(fields) if fields.unnamed.len() == 1 => {
+            let field_type = generate_message_field_type_tokens(&fields.unnamed[0].ty)?;
+            quote! {
+                ::ros_z::dynamic::EnumPayloadSchema::Newtype(::std::boxed::Box::new(#field_type))
+            }
+        }
+        Fields::Unnamed(fields) => {
+            let field_types = fields
+                .unnamed
+                .iter()
+                .map(|field| generate_message_field_type_tokens(&field.ty))
+                .collect::<syn::Result<Vec<_>>>()?;
+            quote! {
+                ::ros_z::dynamic::EnumPayloadSchema::Tuple(::std::vec![#(#field_types),*])
+            }
+        }
+        Fields::Named(fields) => {
+            let field_schemas = fields
+                .named
+                .iter()
+                .map(generate_message_field_schema_tokens)
+                .collect::<syn::Result<Vec<_>>>()?;
+            quote! {
+                ::ros_z::dynamic::EnumPayloadSchema::Struct(::std::vec![#(#field_schemas),*])
+            }
+        }
+    };
+
+    Ok(quote! {
+        ::ros_z::dynamic::EnumVariantSchema::new(#variant_name, #payload)
+    })
+}
+
+fn unsupported_message_type<T>(node: &T, message: &str) -> syn::Result<TokenStream2>
+where
+    T: quote::ToTokens,
+{
+    Err(syn::Error::new_spanned(node, message))
+}
+
+fn parse_canonical_type_name(type_name: &str) -> syn::Result<(String, String, String)> {
+    let parts: Vec<_> = type_name.split('/').collect();
+    if parts.len() != 3 {
+        return Err(syn::Error::new(
+            proc_macro2::Span::call_site(),
+            "ros_msg type_name must look like \"my_pkg/msg/MyType\"",
+        ));
+    }
+
+    match parts[1] {
+        "msg" | "srv" | "action" => Ok((
+            parts[0].to_string(),
+            parts[1].to_string(),
+            parts[2].to_string(),
+        )),
+        _ => Err(syn::Error::new(
+            proc_macro2::Span::call_site(),
+            "ros_msg type_name kind must be one of: msg, srv, action",
+        )),
+    }
+}
+
+fn canonical_to_dds_name(type_name: &str) -> syn::Result<String> {
+    let (package, kind, name) = parse_canonical_type_name(type_name)?;
+    Ok(format!("{package}::{kind}::dds_::{name}_"))
+}
+
+/// Generate extraction code for a single field.
 fn generate_field_extraction(
     field_name: &Ident,
     field_name_str: &str,
     field_type: &Type,
     use_zbuf: bool,
-) -> syn::Result<proc_macro2::TokenStream> {
-    // Handle ZBuf fields specially - try zero-copy paths first
+) -> syn::Result<TokenStream2> {
     if use_zbuf {
         return Ok(quote! {
             #field_name: {
-                use ::pyo3::types::{PyBytesMethods, PyByteArrayMethods};
+                use ::pyo3::types::{PyByteArrayMethods, PyBytesMethods};
                 let py_attr = obj.getattr(#field_name_str)?;
-                // Try ZBufView first - clone is cheap (ref-counted ZSlices)
                 if let Ok(view) = py_attr.downcast::<::ros_z::zbuf_view::ZBufView>() {
                     view.borrow().zbuf().clone()
                 } else if let Ok(bytes) = py_attr.downcast::<::pyo3::types::PyBytes>() {
                     ::ros_z::ZBuf::from(bytes.as_bytes().to_vec())
                 } else if let Ok(bytearray) = py_attr.downcast::<::pyo3::types::PyByteArray>() {
-                    // SAFETY: We immediately copy the data
                     ::ros_z::ZBuf::from(unsafe { bytearray.as_bytes() }.to_vec())
                 } else {
-                    // Fallback for lists (slow path)
                     let bytes: Vec<u8> = py_attr.extract()?;
                     ::ros_z::ZBuf::from(bytes)
                 }
@@ -177,32 +873,22 @@ fn generate_field_extraction(
         });
     }
 
-    // Analyze the type
     match classify_type(field_type) {
-        TypeClass::Primitive => Ok(quote! {
-            #field_name: obj.getattr(#field_name_str)?.extract()?
-        }),
-
-        TypeClass::String => Ok(quote! {
+        TypeClass::Primitive | TypeClass::String => Ok(quote! {
             #field_name: obj.getattr(#field_name_str)?.extract()?
         }),
-
         TypeClass::Vec(inner) => {
             let inner_class = classify_type(&inner);
             match inner_class {
-                // Special case for Vec<u8> - use buffer protocol for performance
                 TypeClass::Primitive if is_u8_type(&inner) => Ok(quote! {
                     #field_name: {
-                        use ::pyo3::types::{PyBytesMethods, PyByteArrayMethods};
+                        use ::pyo3::types::{PyByteArrayMethods, PyBytesMethods};
                         let py_attr = obj.getattr(#field_name_str)?;
-                        // Try bytes/bytearray first (fast path - buffer protocol)
                         if let Ok(bytes) = py_attr.downcast::<::pyo3::types::PyBytes>() {
                             bytes.as_bytes().to_vec()
                         } else if let Ok(bytearray) = py_attr.downcast::<::pyo3::types::PyByteArray>() {
-                            // SAFETY: We immediately copy the data
                             unsafe { bytearray.as_bytes() }.to_vec()
                         } else {
-                            // Fallback for lists (slow path)
                             py_attr.extract()?
                         }
                     }
@@ -210,84 +896,63 @@ fn generate_field_extraction(
                 TypeClass::Primitive | TypeClass::String => Ok(quote! {
                     #field_name: obj.getattr(#field_name_str)?.extract()?
                 }),
-                _ => {
-                    // Vec of nested messages - recursively extract
-                    Ok(quote! {
-                        #field_name: {
-                            use ::pyo3::types::PyListMethods;
-                            let py_list = obj.getattr(#field_name_str)?;
-                            let mut vec = Vec::new();
-                            for item in py_list.iter()? {
-                                vec.push(<#inner as ::ros_z::python_bridge::FromPyMessage>::from_py(&item?)?);
-                            }
-                            vec
+                _ => Ok(quote! {
+                    #field_name: {
+                        use ::pyo3::types::PyListMethods;
+                        let py_list = obj.getattr(#field_name_str)?;
+                        let mut vec = Vec::new();
+                        for item in py_list.iter()? {
+                            vec.push(<#inner as ::ros_z::python_bridge::FromPyMessage>::from_py(&item?)?);
                         }
-                    })
-                }
+                        vec
+                    }
+                }),
             }
         }
-
         TypeClass::Array(inner, size) => {
             let inner_class = classify_type(&inner);
             match inner_class {
-                TypeClass::Primitive | TypeClass::String => {
-                    // For primitive arrays, use zeroed memory for initialization
-                    // This works for any array size
-                    Ok(quote! {
-                        #field_name: {
-                            let v: Vec<_> = obj.getattr(#field_name_str)?.extract()?;
-                            // Use zeroed memory for arrays larger than 32 elements
-                            // SAFETY: All primitive numeric types and bool are valid when zeroed
-                            let mut arr: #field_type = unsafe { ::std::mem::zeroed() };
-                            let len = ::std::cmp::min(v.len(), #size);
-                            arr[..len].copy_from_slice(&v[..len]);
-                            arr
-                        }
-                    })
-                }
-                _ => {
-                    // Fixed array of nested messages
-                    Ok(quote! {
-                        #field_name: {
-                            use ::pyo3::types::PyListMethods;
-                            let py_list = obj.getattr(#field_name_str)?;
-                            let mut arr: #field_type = ::std::array::from_fn(|_| Default::default());
-                            for (i, item) in py_list.iter()?.enumerate().take(#size) {
-                                arr[i] = <#inner as ::ros_z::python_bridge::FromPyMessage>::from_py(&item?)?;
-                            }
-                            arr
+                TypeClass::Primitive | TypeClass::String => Ok(quote! {
+                    #field_name: {
+                        let v: Vec<_> = obj.getattr(#field_name_str)?.extract()?;
+                        let mut arr: #field_type = unsafe { ::std::mem::zeroed() };
+                        let len = ::std::cmp::min(v.len(), #size);
+                        arr[..len].copy_from_slice(&v[..len]);
+                        arr
+                    }
+                }),
+                _ => Ok(quote! {
+                    #field_name: {
+                        use ::pyo3::types::PyListMethods;
+                        let py_list = obj.getattr(#field_name_str)?;
+                        let mut arr: #field_type = ::std::array::from_fn(|_| Default::default());
+                        for (i, item) in py_list.iter()?.enumerate().take(#size) {
+                            arr[i] = <#inner as ::ros_z::python_bridge::FromPyMessage>::from_py(&item?)?;
                         }
-                    })
-                }
+                        arr
+                    }
+                }),
             }
         }
-
-        TypeClass::Nested => {
-            // Nested message - check for None and use Default if None
-            Ok(quote! {
-                #field_name: {
-                    let py_attr = obj.getattr(#field_name_str)?;
-                    if py_attr.is_none() {
-                        Default::default()
-                    } else {
-                        <#field_type as ::ros_z::python_bridge::FromPyMessage>::from_py(&py_attr)?
-                    }
+        TypeClass::Nested => Ok(quote! {
+            #field_name: {
+                let py_attr = obj.getattr(#field_name_str)?;
+                if py_attr.is_none() {
+                    Default::default()
+                } else {
+                    <#field_type as ::ros_z::python_bridge::FromPyMessage>::from_py(&py_attr)?
                 }
-            })
-        }
-
+            }
+        }),
         TypeClass::ZBuf => Ok(quote! {
             #field_name: {
-                use ::pyo3::types::{PyBytesMethods, PyByteArrayMethods};
+                use ::pyo3::types::{PyByteArrayMethods, PyBytesMethods};
                 let py_attr = obj.getattr(#field_name_str)?;
-                // Try bytes/bytearray first (fast path - buffer protocol)
                 let bytes: Vec<u8> = if let Ok(bytes) = py_attr.downcast::<::pyo3::types::PyBytes>() {
                     bytes.as_bytes().to_vec()
                 } else if let Ok(bytearray) = py_attr.downcast::<::pyo3::types::PyByteArray>() {
-                    // SAFETY: We immediately copy the data
                     unsafe { bytearray.as_bytes() }.to_vec()
                 } else {
-                    // Fallback for lists (slow path)
                     py_attr.extract()?
                 };
                 ::ros_z::ZBuf::from(bytes)
@@ -296,19 +961,16 @@ fn generate_field_extraction(
     }
 }
 
-/// Generate construction code for a single field (Rust -> Python)
+/// Generate construction code for a single field (Rust -> Python).
 fn generate_field_construction(
     field_name: &Ident,
     field_name_str: &str,
     field_type: &Type,
     use_zbuf: bool,
-) -> syn::Result<proc_macro2::TokenStream> {
-    // Handle ZBuf fields specially - create zero-copy view using buffer protocol
+) -> syn::Result<TokenStream2> {
     if use_zbuf {
         return Ok(quote! {
             {
-                // Create a ZBufView which implements buffer protocol for zero-copy access
-                // Python can use memoryview(zbuf_view) to get zero-copy access to the data
                 let zbuf_view = ::ros_z::zbuf_view::ZBufView::new(self.#field_name.clone());
                 let py_view = ::pyo3::Py::new(py, zbuf_view)?;
                 kwargs.set_item(#field_name_str, py_view)?;
@@ -320,15 +982,12 @@ fn generate_field_construction(
         TypeClass::Primitive => Ok(quote! {
             kwargs.set_item(#field_name_str, self.#field_name)?;
         }),
-
         TypeClass::String => Ok(quote! {
             kwargs.set_item(#field_name_str, &self.#field_name)?;
         }),
-
         TypeClass::Vec(inner) => {
             let inner_class = classify_type(&inner);
             match inner_class {
-                // Special case for Vec<u8> - output as bytes for performance
                 TypeClass::Primitive if is_u8_type(&inner) => Ok(quote! {
                     {
                         let py_bytes = ::pyo3::types::PyBytes::new_bound(py, &self.#field_name);
@@ -338,58 +997,46 @@ fn generate_field_construction(
                 TypeClass::Primitive | TypeClass::String => Ok(quote! {
                     kwargs.set_item(#field_name_str, &self.#field_name)?;
                 }),
-                _ => {
-                    // Vec of nested messages
-                    Ok(quote! {
-                        {
-                            use ::pyo3::types::PyListMethods;
-                            let py_list = ::pyo3::types::PyList::empty_bound(py);
-                            for item in &self.#field_name {
-                                py_list.append(
-                                    <#inner as ::ros_z::python_bridge::IntoPyMessage>::into_py_message(item, py)?
-                                )?;
-                            }
-                            kwargs.set_item(#field_name_str, py_list)?;
+                _ => Ok(quote! {
+                    {
+                        use ::pyo3::types::PyListMethods;
+                        let py_list = ::pyo3::types::PyList::empty_bound(py);
+                        for item in &self.#field_name {
+                            py_list.append(
+                                <#inner as ::ros_z::python_bridge::IntoPyMessage>::into_py_message(item, py)?
+                            )?;
                         }
-                    })
-                }
+                        kwargs.set_item(#field_name_str, py_list)?;
+                    }
+                }),
             }
         }
-
         TypeClass::Array(inner, _) => {
             let inner_class = classify_type(&inner);
             match inner_class {
                 TypeClass::Primitive | TypeClass::String => Ok(quote! {
                     kwargs.set_item(#field_name_str, self.#field_name.to_vec())?;
                 }),
-                _ => {
-                    // Array of nested messages
-                    Ok(quote! {
-                        {
-                            use ::pyo3::types::PyListMethods;
-                            let py_list = ::pyo3::types::PyList::empty_bound(py);
-                            for item in &self.#field_name {
-                                py_list.append(
-                                    <#inner as ::ros_z::python_bridge::IntoPyMessage>::into_py_message(item, py)?
-                                )?;
-                            }
-                            kwargs.set_item(#field_name_str, py_list)?;
+                _ => Ok(quote! {
+                    {
+                        use ::pyo3::types::PyListMethods;
+                        let py_list = ::pyo3::types::PyList::empty_bound(py);
+                        for item in &self.#field_name {
+                            py_list.append(
+                                <#inner as ::ros_z::python_bridge::IntoPyMessage>::into_py_message(item, py)?
+                            )?;
                         }
-                    })
-                }
+                        kwargs.set_item(#field_name_str, py_list)?;
+                    }
+                }),
             }
         }
-
-        TypeClass::Nested => {
-            // Nested message - convert using trait
-            Ok(quote! {
-                kwargs.set_item(
-                    #field_name_str,
-                    <#field_type as ::ros_z::python_bridge::IntoPyMessage>::into_py_message(&self.#field_name, py)?
-                )?;
-            })
-        }
-
+        TypeClass::Nested => Ok(quote! {
+            kwargs.set_item(
+                #field_name_str,
+                <#field_type as ::ros_z::python_bridge::IntoPyMessage>::into_py_message(&self.#field_name, py)?
+            )?;
+        }),
         TypeClass::ZBuf => Ok(quote! {
             {
                 use ::zenoh_buffers::buffer::SplitBuffer;
@@ -401,7 +1048,7 @@ fn generate_field_construction(
     }
 }
 
-/// Type classification for code generation
+/// Type classification for Python conversion code generation.
 #[derive(Debug)]
 enum TypeClass {
     Primitive,
@@ -412,15 +1059,13 @@ enum TypeClass {
     ZBuf,
 }
 
-/// Classify a type for code generation purposes
+/// Classify a type for Python conversion code generation purposes.
 fn classify_type(ty: &Type) -> TypeClass {
     if let Type::Path(type_path) = ty {
         let segments = &type_path.path.segments;
         if let Some(last_segment) = segments.last() {
-            let ident = &last_segment.ident;
-            let ident_str = ident.to_string();
+            let ident_str = last_segment.ident.to_string();
 
-            // Check for primitives
             if matches!(
                 ident_str.as_str(),
                 "bool"
@@ -438,17 +1083,14 @@ fn classify_type(ty: &Type) -> TypeClass {
                 return TypeClass::Primitive;
             }
 
-            // Check for String
             if ident_str == "String" {
                 return TypeClass::String;
             }
 
-            // Check for ZBuf
             if ident_str == "ZBuf" {
                 return TypeClass::ZBuf;
             }
 
-            // Check for Vec
             if ident_str == "Vec" {
                 if let PathArguments::AngleBracketed(args) = &last_segment.arguments {
                     if let Some(GenericArgument::Type(inner)) = args.args.first() {
@@ -459,10 +1101,9 @@ fn classify_type(ty: &Type) -> TypeClass {
         }
     }
 
-    // Check for arrays
     if let Type::Array(arr) = ty {
-        if let syn::Expr::Lit(lit) = &arr.len {
-            if let Lit::Int(int_lit) = &lit.lit {
+        if let Expr::Lit(lit) = &arr.len {
+            if let syn::Lit::Int(int_lit) = &lit.lit {
                 if let Ok(size) = int_lit.base10_parse::<usize>() {
                     return TypeClass::Array(Box::new((*arr.elem).clone()), size);
                 }
@@ -470,44 +1111,56 @@ fn classify_type(ty: &Type) -> TypeClass {
         }
     }
 
-    // Default to nested message
     TypeClass::Nested
 }
 
-/// Check if a field has a specific ros_msg attribute
-fn has_ros_msg_attr(attrs: &[Attribute], attr_name: &str) -> bool {
+#[derive(Default)]
+struct RosMsgArgs {
+    module: Option<String>,
+    type_name: Option<String>,
+    zbuf: bool,
+}
+
+fn parse_ros_msg_args(attrs: &[Attribute]) -> syn::Result<RosMsgArgs> {
+    let mut parsed = RosMsgArgs::default();
+
     for attr in attrs {
-        if attr.path().is_ident("ros_msg") {
-            if let Ok(meta) = attr.parse_args::<Ident>() {
-                if meta == attr_name {
-                    return true;
-                }
-            }
+        if !attr.path().is_ident("ros_msg") {
+            continue;
         }
+
+        attr.parse_nested_meta(|meta| {
+            if meta.path.is_ident("module") {
+                let value = meta.value()?.parse::<LitStr>()?;
+                parsed.module = Some(value.value());
+                return Ok(());
+            }
+
+            if meta.path.is_ident("type_name") {
+                let value = meta.value()?.parse::<LitStr>()?;
+                parsed.type_name = Some(value.value());
+                return Ok(());
+            }
+
+            if meta.path.is_ident("zbuf") {
+                parsed.zbuf = true;
+                return Ok(());
+            }
+
+            Err(meta
+                .error("unsupported ros_msg attribute, expected one of: module, type_name, zbuf"))
+        })?;
     }
-    false
+
+    Ok(parsed)
 }
 
-/// Extract module path from #[ros_msg(module = "...")] attribute
 fn extract_module_path(attrs: &[Attribute]) -> syn::Result<String> {
-    for attr in attrs {
-        if attr.path().is_ident("ros_msg") {
-            if let Ok(Meta::NameValue(nv)) = attr.parse_args() {
-                if nv.path.is_ident("module") {
-                    if let syn::Expr::Lit(lit) = &nv.value {
-                        if let Lit::Str(s) = &lit.lit {
-                            return Ok(s.value());
-                        }
-                    }
-                }
-            }
-        }
-    }
-    // Default module path
-    Ok("ros_z_msgs_py.types".to_string())
+    Ok(parse_ros_msg_args(attrs)?
+        .module
+        .unwrap_or_else(|| "ros_z_msgs_py.types".to_string()))
 }
 
-/// Check if a type is u8
 fn is_u8_type(ty: &Type) -> bool {
     if let Type::Path(type_path) = ty {
         if let Some(last_segment) = type_path.path.segments.last() {
@@ -517,11 +1170,8 @@ fn is_u8_type(ty: &Type) -> bool {
     false
 }
 
-/// Convert Rust field name to Python attribute name
-/// Handles r#type -> type conversion for Rust keywords
-fn field_name_to_py_attr(ident: &Ident) -> String {
+fn field_name_to_attr(ident: &Ident) -> String {
     let name = ident.to_string();
-    // Strip r# prefix used for Rust keywords
     if let Some(stripped) = name.strip_prefix("r#") {
         stripped.to_string()
     } else {
diff --git a/crates/ros-z-protocol/src/entity.rs b/crates/ros-z-protocol/src/entity.rs
index 00757637..d6a2654e 100644
--- a/crates/ros-z-protocol/src/entity.rs
+++ b/crates/ros-z-protocol/src/entity.rs
@@ -54,7 +54,7 @@ impl Display for TopicKE {
 }
 
 /// ROS 2 node entity.
-#[derive(Default, Debug, Hash, Clone, PartialEq, Eq)]
+#[derive(Debug, Hash, Clone, PartialEq, Eq)]
 pub struct NodeEntity {
     pub domain_id: usize,
     pub z_id: ZenohId,
@@ -85,9 +85,8 @@ impl NodeEntity {
 }
 
 /// ROS 2 entity kind (node, publisher, subscription, service, client).
-#[derive(Default, Debug, Hash, Clone, Copy, PartialEq, Eq)]
+#[derive(Debug, Hash, Clone, Copy, PartialEq, Eq)]
 pub enum EntityKind {
-    #[default]
     Node,
     Publisher,
     Subscription,
@@ -122,6 +121,65 @@ impl core::str::FromStr for EntityKind {
     }
 }
 
+/// ROS 2 endpoint kind (publisher, subscription, service, client).
+#[derive(Debug, Hash, Clone, Copy, PartialEq, Eq)]
+pub enum EndpointKind {
+    Publisher,
+    Subscription,
+    Service,
+    Client,
+}
+
+impl Display for EndpointKind {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            EndpointKind::Publisher => write!(f, "MP"),
+            EndpointKind::Subscription => write!(f, "MS"),
+            EndpointKind::Service => write!(f, "SS"),
+            EndpointKind::Client => write!(f, "SC"),
+        }
+    }
+}
+
+impl core::str::FromStr for EndpointKind {
+    type Err = &'static str;
+
+    fn from_str(s: &str) -> Result<Self, Self::Err> {
+        match s {
+            "MP" => Ok(EndpointKind::Publisher),
+            "MS" => Ok(EndpointKind::Subscription),
+            "SS" => Ok(EndpointKind::Service),
+            "SC" => Ok(EndpointKind::Client),
+            _ => Err("Invalid endpoint kind"),
+        }
+    }
+}
+
+impl From<EndpointKind> for EntityKind {
+    fn from(kind: EndpointKind) -> Self {
+        match kind {
+            EndpointKind::Publisher => EntityKind::Publisher,
+            EndpointKind::Subscription => EntityKind::Subscription,
+            EndpointKind::Service => EntityKind::Service,
+            EndpointKind::Client => EntityKind::Client,
+        }
+    }
+}
+
+impl TryFrom<EntityKind> for EndpointKind {
+    type Error = &'static str;
+
+    fn try_from(kind: EntityKind) -> Result<Self, Self::Error> {
+        match kind {
+            EntityKind::Node => Err("Node is not a valid endpoint kind"),
+            EntityKind::Publisher => Ok(EndpointKind::Publisher),
+            EntityKind::Subscription => Ok(EndpointKind::Subscription),
+            EntityKind::Service => Ok(EndpointKind::Service),
+            EntityKind::Client => Ok(EndpointKind::Client),
+        }
+    }
+}
+
 /// Type hash (RIHS format).
 #[derive(Debug, Hash, PartialEq, Eq, Clone)]
 pub struct TypeHash {
@@ -224,16 +282,22 @@ impl TypeInfo {
 }
 
 /// ROS 2 endpoint entity (publisher, subscription, service, client).
-#[derive(Default, Debug, Hash, PartialEq, Eq, Clone)]
+#[derive(Debug, Hash, PartialEq, Eq, Clone)]
 pub struct EndpointEntity {
     pub id: usize,
-    pub node: NodeEntity,
-    pub kind: EntityKind,
+    pub node: Option<NodeEntity>,
+    pub kind: EndpointKind,
     pub topic: String,
     pub type_info: Option<TypeInfo>,
     pub qos: QosProfile,
 }
 
+impl EndpointEntity {
+    pub fn entity_kind(&self) -> EntityKind {
+        self.kind.into()
+    }
+}
+
 /// Generic ROS 2 entity (node or endpoint).
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub enum Entity {
diff --git a/crates/ros-z-protocol/src/format/rmw_zenoh.rs b/crates/ros-z-protocol/src/format/rmw_zenoh.rs
index a0c78639..fe26ba81 100644
--- a/crates/ros-z-protocol/src/format/rmw_zenoh.rs
+++ b/crates/ros-z-protocol/src/format/rmw_zenoh.rs
@@ -10,8 +10,8 @@ use zenoh::{key_expr::KeyExpr, session::ZenohId, Result};
 
 use crate::{
     entity::{
-        EndpointEntity, Entity, EntityConversionError, EntityKind, LivelinessKE, NodeEntity,
-        TopicKE, TypeHash, TypeInfo,
+        EndpointEntity, EndpointKind, Entity, EntityConversionError, EntityKind, LivelinessKE,
+        NodeEntity, TopicKE, TypeHash, TypeInfo,
     },
     qos::QosProfile,
 };
@@ -33,9 +33,20 @@ impl KeyExprFormatter for RmwZenohFormatter {
     const ADMIN_SPACE: &'static str = "@ros2_lv";
 
     fn topic_key_expr(entity: &EndpointEntity) -> Result<TopicKE> {
-        let domain_id = entity.node.domain_id;
+        let EndpointEntity {
+            node: Some(node),
+            topic,
+            type_info,
+            ..
+        } = entity
+        else {
+            return Err(zenoh::Error::from(
+                "rmw-zenoh endpoint keys require node identity",
+            ));
+        };
+        let domain_id = node.domain_id;
         let topic = {
-            let s = &entity.topic;
+            let s = topic.as_str();
             let s = s.strip_prefix('/').unwrap_or(s);
             let s = s.strip_suffix('/').unwrap_or(s);
 
@@ -50,14 +61,14 @@ impl KeyExprFormatter for RmwZenohFormatter {
             s.to_string()
         };
 
-        let type_info = entity.type_info.as_ref().map_or(
-            format!("{EMPTY_TOPIC_TYPE}/{EMPTY_TOPIC_HASH}"),
-            |x| {
-                let type_name = Self::demangle_name(&x.name);
-                let type_hash = Self::demangle_name(&x.hash.to_string());
-                format!("{type_name}/{type_hash}")
-            },
-        );
+        let type_info =
+            type_info
+                .as_ref()
+                .map_or(format!("{EMPTY_TOPIC_TYPE}/{EMPTY_TOPIC_HASH}"), |x| {
+                    let type_name = Self::demangle_name(&x.name);
+                    let type_hash = Self::demangle_name(&x.hash.to_string());
+                    format!("{type_name}/{type_hash}")
+                });
 
         Ok(TopicKE::new(
             format!("{domain_id}/{topic}/{type_info}").try_into()?,
@@ -68,19 +79,24 @@ impl KeyExprFormatter for RmwZenohFormatter {
         let EndpointEntity {
             id,
             node:
-                NodeEntity {
+                Some(NodeEntity {
                     domain_id,
                     z_id,
                     id: node_id,
                     name: node_name,
                     namespace: node_namespace,
                     enclave: _,
-                },
+                }),
             kind,
             topic: topic_name,
             type_info,
             qos,
-        } = entity;
+        } = entity
+        else {
+            return Err(zenoh::Error::from(
+                "rmw-zenoh liveliness requires node identity",
+            ));
+        };
 
         let node_namespace = if node_namespace.is_empty() {
             EMPTY_PLACEHOLDER.to_string()
@@ -220,8 +236,8 @@ impl KeyExprFormatter for RmwZenohFormatter {
 
                 Entity::Endpoint(EndpointEntity {
                     id: entity_id,
-                    node,
-                    kind: entity_kind,
+                    node: Some(node),
+                    kind: EndpointKind::try_from(entity_kind).map_err(|_| ParsingError)?,
                     topic: topic_name,
                     type_info,
                     qos,
@@ -244,7 +260,7 @@ impl KeyExprFormatter for RmwZenohFormatter {
 #[cfg(test)]
 mod tests {
     use super::*;
-    use crate::entity::{EndpointEntity, EntityKind, NodeEntity, TypeInfo};
+    use crate::entity::{EndpointEntity, EndpointKind, NodeEntity, TypeInfo};
     use crate::qos::{QosDurability, QosHistory, QosProfile, QosReliability};
 
     #[test]
@@ -303,8 +319,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "chatter".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -349,8 +365,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "chatter".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -417,8 +433,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Subscription,
+            node: Some(node),
+            kind: EndpointKind::Subscription,
             topic: "chatter".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -450,8 +466,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Service,
+            node: Some(node),
+            kind: EndpointKind::Service,
             topic: "add_two_ints".to_string(),
             type_info: Some(TypeInfo::new(
                 "example_interfaces/srv/AddTwoInts",
@@ -486,8 +502,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Client,
+            node: Some(node),
+            kind: EndpointKind::Client,
             topic: "add_two_ints".to_string(),
             type_info: Some(TypeInfo::new(
                 "example_interfaces/srv/AddTwoInts",
@@ -570,8 +586,8 @@ mod tests {
         // Service with slashes in name (common pattern: /node_name/service_name)
         let entity = EndpointEntity {
             id: 10,
-            node,
-            kind: EntityKind::Service,
+            node: Some(node),
+            kind: EndpointKind::Service,
             topic: "/talker/get_type_description".to_string(),
             type_info: Some(TypeInfo::new(
                 "type_description_interfaces::srv::dds_::GetTypeDescription_",
@@ -612,8 +628,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 11,
-            node,
-            kind: EntityKind::Client,
+            node: Some(node),
+            kind: EndpointKind::Client,
             topic: "/my_service/sub_service/action".to_string(),
             type_info: Some(TypeInfo::new(
                 "example_interfaces/srv/AddTwoInts",
@@ -650,8 +666,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "/ns/topic".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -691,8 +707,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 2,
-            node,
-            kind: EntityKind::Subscription,
+            node: Some(node),
+            kind: EndpointKind::Subscription,
             topic: "/robot/sensor/data".to_string(),
             type_info: Some(TypeInfo::new("sensor_msgs/msg/Image", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -732,8 +748,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 3,
-            node,
-            kind: EntityKind::Publisher, // Actions use pub/sub for feedback/status
+            node: Some(node),
+            kind: EndpointKind::Publisher, // Actions use pub/sub for feedback/status
             topic: "/fibonacci/_action/send_goal".to_string(),
             type_info: Some(TypeInfo::new(
                 "action_tutorials_interfaces::action::dds_::Fibonacci_SendGoal_",
@@ -774,8 +790,8 @@ mod tests {
         // Service with leading and trailing slashes
         let entity = EndpointEntity {
             id: 4,
-            node,
-            kind: EntityKind::Service,
+            node: Some(node),
+            kind: EndpointKind::Service,
             topic: "/my_service/".to_string(),
             type_info: Some(TypeInfo::new(
                 "example_interfaces/srv/Trigger",
@@ -815,8 +831,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 5,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "chatter".to_string(),
             type_info: None, // No type info
             qos: QosProfile::default(),
@@ -853,8 +869,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 6,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "chatter".to_string(),
             // Type name with mangled slashes (as stored internally)
             type_info: Some(TypeInfo::new("std_msgs%msg%String", TypeHash::zero())),
@@ -892,8 +908,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 10,
-            node,
-            kind: EntityKind::Service,
+            node: Some(node),
+            kind: EndpointKind::Service,
             topic: "/talker/get_type_description".to_string(),
             type_info: Some(TypeInfo::new(
                 "type_description_interfaces::srv::dds_::GetTypeDescription_",
@@ -928,8 +944,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 7,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "/data/temperature".to_string(),
             type_info: Some(TypeInfo::new(
                 "sensor_msgs/msg/Temperature",
@@ -976,8 +992,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 8,
-            node,
-            kind: EntityKind::Subscription,
+            node: Some(node),
+            kind: EndpointKind::Subscription,
             topic: "chatter".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -1015,8 +1031,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 9,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "chatter".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -1049,8 +1065,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 10,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "image".to_string(),
             type_info: Some(TypeInfo::new(
                 "sensor_msgs/msg/Image",
@@ -1097,8 +1113,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 11,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "chatter".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos,
@@ -1141,8 +1157,8 @@ mod tests {
 
         let original = EndpointEntity {
             id: 12,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "/topic/name".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -1154,8 +1170,14 @@ mod tests {
         if let Entity::Endpoint(parsed_entity) = parsed {
             assert_eq!(parsed_entity.id, original.id);
             assert_eq!(parsed_entity.kind, original.kind);
-            assert_eq!(parsed_entity.node.name, original.node.name);
-            assert_eq!(parsed_entity.node.namespace, original.node.namespace);
+            assert_eq!(
+                parsed_entity.node.as_ref().unwrap().name,
+                original.node.as_ref().unwrap().name
+            );
+            assert_eq!(
+                parsed_entity.node.as_ref().unwrap().namespace,
+                original.node.as_ref().unwrap().namespace
+            );
             // Topic name should be reconstructed (slashes demangled)
             assert_eq!(parsed_entity.topic, "/topic/name");
         } else {
@@ -1178,8 +1200,8 @@ mod tests {
 
         let original = EndpointEntity {
             id: 13,
-            node,
-            kind: EntityKind::Service,
+            node: Some(node),
+            kind: EndpointKind::Service,
             topic: "/my/service".to_string(),
             type_info: Some(TypeInfo::new(
                 "example_interfaces::srv::dds_::AddTwoInts_",
@@ -1193,7 +1215,7 @@ mod tests {
 
         if let Entity::Endpoint(parsed_entity) = parsed {
             assert_eq!(parsed_entity.id, original.id);
-            assert_eq!(parsed_entity.kind, EntityKind::Service);
+            assert_eq!(parsed_entity.kind, EndpointKind::Service);
             assert_eq!(parsed_entity.topic, "/my/service");
             assert_eq!(
                 parsed_entity.type_info.as_ref().unwrap().name,
@@ -1219,8 +1241,8 @@ mod tests {
 
         let original = EndpointEntity {
             id: 14,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "test".to_string(),
             type_info: None,
             qos: QosProfile::default(),
@@ -1282,8 +1304,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 16,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "simple_topic".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -1318,8 +1340,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 17,
-            node,
-            kind: EntityKind::Service,
+            node: Some(node),
+            kind: EndpointKind::Service,
             topic: "/a//b".to_string(), // Consecutive slashes
             type_info: Some(TypeInfo::new("std_srvs/srv/Trigger", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -1348,8 +1370,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 18,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "chatter".to_string(),
             // DDS type name with ::dds_:: namespace
             type_info: Some(TypeInfo::new(
@@ -1386,8 +1408,8 @@ mod tests {
         let long_topic = "/very/long/topic/name/with/many/segments/for/testing/purposes";
         let entity = EndpointEntity {
             id: 19,
-            node,
-            kind: EntityKind::Service,
+            node: Some(node),
+            kind: EndpointKind::Service,
             topic: long_topic.to_string(),
             type_info: Some(TypeInfo::new("std_srvs/srv/Trigger", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -1473,8 +1495,8 @@ mod kani_proofs {
         };
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "/kani_topic".to_string(),
             type_info: Some(TypeInfo {
                 name: "std_msgs/msg/String".to_string(),
@@ -1492,8 +1514,11 @@ mod kani_proofs {
         let parsed = RmwZenohFormatter::parse_liveliness(&ke).expect("parse_liveliness");
 
         if let crate::entity::Entity::Endpoint(ep) = parsed {
-            kani::assert(ep.node.domain_id == domain_id, "domain_id preserved");
-            kani::assert(ep.kind == EntityKind::Publisher, "entity kind preserved");
+            kani::assert(
+                ep.node.as_ref().unwrap().domain_id == domain_id,
+                "domain_id preserved",
+            );
+            kani::assert(ep.kind == EndpointKind::Publisher, "entity kind preserved");
         } else {
             kani::assert(false, "expected Endpoint entity");
         }
diff --git a/crates/ros-z-protocol/src/format/ros2dds.rs b/crates/ros-z-protocol/src/format/ros2dds.rs
index 642b7975..7d59a7a4 100644
--- a/crates/ros-z-protocol/src/format/ros2dds.rs
+++ b/crates/ros-z-protocol/src/format/ros2dds.rs
@@ -12,7 +12,7 @@ use zenoh::{key_expr::KeyExpr, session::ZenohId, Result};
 
 use crate::{
     entity::{
-        EndpointEntity, Entity, EntityConversionError, EntityKind, LivelinessKE, NodeEntity,
+        EndpointEntity, EndpointKind, Entity, EntityConversionError, LivelinessKE, NodeEntity,
         TopicKE, TypeHash, TypeInfo,
     },
     qos::{QosDurability, QosHistory, QosProfile, QosReliability},
@@ -48,11 +48,10 @@ impl KeyExprFormatter for Ros2DdsFormatter {
     fn liveliness_key_expr(entity: &EndpointEntity, zid: &ZenohId) -> Result<LivelinessKE> {
         // ros2dds format: @/<zenoh_id>/@ros2_lv/<kind>/<escaped_ke>/<type>[/<qos>]
         let kind = match entity.kind {
-            EntityKind::Publisher => "MP",
-            EntityKind::Subscription => "MS",
-            EntityKind::Service => "SS",
-            EntityKind::Client => "SC",
-            EntityKind::Node => "NN", // ros2dds doesn't actually expose node tokens
+            EndpointKind::Publisher => "MP",
+            EndpointKind::Subscription => "MS",
+            EndpointKind::Service => "SS",
+            EndpointKind::Client => "SC",
         };
 
         // Escape slashes in topic name
@@ -72,7 +71,7 @@ impl KeyExprFormatter for Ros2DdsFormatter {
 
         // QoS encoding for pub/sub only
         let qos_str = match entity.kind {
-            EntityKind::Publisher | EntityKind::Subscription => {
+            EndpointKind::Publisher | EndpointKind::Subscription => {
                 format!("/{}", Self::encode_qos(&entity.qos, false))
             }
             _ => String::new(),
@@ -119,20 +118,24 @@ impl KeyExprFormatter for Ros2DdsFormatter {
         // Entity kind
         let kind_str = iter.next().ok_or(MissingEntityKind)?;
         let kind = match kind_str {
-            "MP" => EntityKind::Publisher,
-            "MS" => EntityKind::Subscription,
-            "SS" => EntityKind::Service,
-            "SC" => EntityKind::Client,
+            "MP" => EndpointKind::Publisher,
+            "MS" => EndpointKind::Subscription,
+            "SS" => EndpointKind::Service,
+            "SC" => EndpointKind::Client,
             "AS" | "AC" => {
                 // Action server/client - map to Service for now
-                EntityKind::Service
+                EndpointKind::Service
             }
             _ => return Err(zenoh::Error::from(ParsingError)),
         };
 
         // Topic key expression (escaped)
         let topic_escaped = iter.next().ok_or(MissingTopicName)?;
-        let topic = Self::demangle_name(topic_escaped);
+        let topic = match Self::demangle_name(topic_escaped) {
+            topic if topic.is_empty() => "/".to_string(),
+            topic if topic.starts_with('/') => topic,
+            topic => format!("/{}", topic),
+        };
 
         // Type name (escaped)
         let type_escaped = iter.next().ok_or(MissingTopicType)?;
@@ -146,16 +149,6 @@ impl KeyExprFormatter for Ros2DdsFormatter {
             QosProfile::default()
         };
 
-        // Create a placeholder node (ros2dds doesn't include node info in liveliness)
-        let node = NodeEntity {
-            id: 0,
-            domain_id: 0,
-            z_id,
-            name: String::new(),
-            namespace: String::new(),
-            enclave: String::new(),
-        };
-
         let type_info = if type_name.is_empty() || type_name == "unknown" {
             None
         } else {
@@ -165,9 +158,11 @@ impl KeyExprFormatter for Ros2DdsFormatter {
             })
         };
 
+        let _ = z_id;
+
         Ok(Entity::Endpoint(EndpointEntity {
             id: 0,
-            node,
+            node: None,
             kind,
             topic,
             type_info,
@@ -417,8 +412,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "chatter".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -446,8 +441,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Publisher,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
             topic: "chatter".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -505,8 +500,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Subscription,
+            node: Some(node),
+            kind: EndpointKind::Subscription,
             topic: "chatter".to_string(),
             type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
             qos: QosProfile::default(),
@@ -523,6 +518,39 @@ mod tests {
         );
     }
 
+    #[test]
+    fn test_parse_liveliness_restores_absolute_topic_name() {
+        let zid: zenoh::session::ZenohId = "1234567890abcdef1234567890abcdef".parse().unwrap();
+        let node = NodeEntity::new(
+            0,
+            zid,
+            1,
+            "test_node".to_string(),
+            "/".to_string(),
+            String::new(),
+        );
+
+        let entity = EndpointEntity {
+            id: 1,
+            node: Some(node),
+            kind: EndpointKind::Publisher,
+            topic: "/chatter".to_string(),
+            type_info: Some(TypeInfo::new("std_msgs/msg/String", TypeHash::zero())),
+            qos: QosProfile::default(),
+        };
+
+        let liveliness_ke = Ros2DdsFormatter::liveliness_key_expr(&entity, &zid).unwrap();
+        let parsed = Ros2DdsFormatter::parse_liveliness(&liveliness_ke).unwrap();
+
+        match parsed {
+            Entity::Endpoint(endpoint) => {
+                assert_eq!(endpoint.topic, "/chatter");
+                assert!(endpoint.node.is_none());
+            }
+            other => panic!("expected endpoint entity, got {:?}", other),
+        }
+    }
+
     /// Test service server liveliness key expression
     #[test]
     fn test_service_liveliness_key_expr() {
@@ -538,8 +566,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Service,
+            node: Some(node),
+            kind: EndpointKind::Service,
             topic: "add_two_ints".to_string(),
             type_info: Some(TypeInfo::new(
                 "example_interfaces/srv/AddTwoInts",
@@ -585,8 +613,8 @@ mod tests {
 
         let entity = EndpointEntity {
             id: 1,
-            node,
-            kind: EntityKind::Client,
+            node: Some(node),
+            kind: EndpointKind::Client,
             topic: "add_two_ints".to_string(),
             type_info: Some(TypeInfo::new(
                 "example_interfaces/srv/AddTwoInts",
diff --git a/crates/ros-z-protocol/src/lib.rs b/crates/ros-z-protocol/src/lib.rs
index 2c6d3079..06312bee 100644
--- a/crates/ros-z-protocol/src/lib.rs
+++ b/crates/ros-z-protocol/src/lib.rs
@@ -34,8 +34,8 @@
 //!
 //! let entity = EndpointEntity {
 //!     id: 1,
-//!     node,
-//!     kind: EntityKind::Publisher,
+//!     node: Some(node),
+//!     kind: EndpointKind::Publisher,
 //!     topic: "/chatter".to_string(),
 //!     type_info: None,
 //!     qos: Default::default(),
@@ -53,7 +53,9 @@ pub mod entity;
 pub mod format;
 pub mod qos;
 
-pub use entity::{EndpointEntity, Entity, EntityKind, NodeEntity, TypeHash, TypeInfo};
+pub use entity::{
+    EndpointEntity, EndpointKind, Entity, EntityKind, NodeEntity, TypeHash, TypeInfo,
+};
 #[cfg(feature = "rmw-zenoh")]
 pub use format::rmw_zenoh::RmwZenohFormatter;
 #[cfg(feature = "ros2dds")]
diff --git a/crates/ros-z-protocol/tests/key_expr.rs b/crates/ros-z-protocol/tests/key_expr.rs
index 9a34e182..8d74c01a 100644
--- a/crates/ros-z-protocol/tests/key_expr.rs
+++ b/crates/ros-z-protocol/tests/key_expr.rs
@@ -6,7 +6,7 @@
 //! return Err rather than panicking.
 
 use ros_z_protocol::{
-    entity::{EndpointEntity, EntityKind, NodeEntity, TypeHash, TypeInfo},
+    entity::{EndpointEntity, EndpointKind, NodeEntity, TypeHash, TypeInfo},
     format::{rmw_zenoh::RmwZenohFormatter, KeyExprFormatter},
     qos::{QosDurability, QosHistory, QosProfile, QosReliability},
 };
@@ -27,10 +27,10 @@ fn default_node(domain_id: usize) -> NodeEntity {
     }
 }
 
-fn endpoint_entity(domain_id: usize, kind: EntityKind, topic: &str) -> EndpointEntity {
+fn endpoint_entity(domain_id: usize, kind: EndpointKind, topic: &str) -> EndpointEntity {
     EndpointEntity {
         id: 42,
-        node: default_node(domain_id),
+        node: Some(default_node(domain_id)),
         kind,
         topic: topic.to_string(),
         type_info: Some(TypeInfo {
@@ -56,7 +56,7 @@ fn parse_liveliness(ke_str: &str) -> zenoh::Result<ros_z_protocol::entity::Entit
 
 #[test]
 fn test_publisher_liveliness_roundtrip() {
-    let entity = endpoint_entity(0, EntityKind::Publisher, "/chatter");
+    let entity = endpoint_entity(0, EndpointKind::Publisher, "/chatter");
     let zid = ZenohId::default();
 
     let ke = RmwZenohFormatter::liveliness_key_expr(&entity, &zid).expect("liveliness_key_expr");
@@ -64,10 +64,19 @@ fn test_publisher_liveliness_roundtrip() {
     let parsed = RmwZenohFormatter::parse_liveliness(&ke).expect("parse_liveliness");
 
     if let ros_z_protocol::entity::Entity::Endpoint(ep) = parsed {
-        assert_eq!(ep.node.domain_id, entity.node.domain_id);
-        assert_eq!(ep.node.id, entity.node.id);
-        assert_eq!(ep.node.name, entity.node.name);
-        assert_eq!(ep.kind, EntityKind::Publisher);
+        assert_eq!(
+            ep.node.as_ref().unwrap().domain_id,
+            entity.node.as_ref().unwrap().domain_id
+        );
+        assert_eq!(
+            ep.node.as_ref().unwrap().id,
+            entity.node.as_ref().unwrap().id
+        );
+        assert_eq!(
+            ep.node.as_ref().unwrap().name,
+            entity.node.as_ref().unwrap().name
+        );
+        assert_eq!(ep.kind, EndpointKind::Publisher);
         // The parsed topic preserves the leading slash from demangle
         assert!(
             ep.topic.contains("chatter"),
@@ -81,15 +90,15 @@ fn test_publisher_liveliness_roundtrip() {
 
 #[test]
 fn test_subscription_liveliness_roundtrip() {
-    let entity = endpoint_entity(7, EntityKind::Subscription, "/sensor/data");
+    let entity = endpoint_entity(7, EndpointKind::Subscription, "/sensor/data");
     let zid = ZenohId::default();
 
     let ke = RmwZenohFormatter::liveliness_key_expr(&entity, &zid).unwrap();
     let parsed = RmwZenohFormatter::parse_liveliness(&ke).unwrap();
 
     if let ros_z_protocol::entity::Entity::Endpoint(ep) = parsed {
-        assert_eq!(ep.kind, EntityKind::Subscription);
-        assert_eq!(ep.node.domain_id, 7);
+        assert_eq!(ep.kind, EndpointKind::Subscription);
+        assert_eq!(ep.node.as_ref().unwrap().domain_id, 7);
     } else {
         panic!("expected Endpoint entity");
     }
@@ -97,14 +106,14 @@ fn test_subscription_liveliness_roundtrip() {
 
 #[test]
 fn test_service_liveliness_roundtrip() {
-    let entity = endpoint_entity(0, EntityKind::Service, "/add_two_ints");
+    let entity = endpoint_entity(0, EndpointKind::Service, "/add_two_ints");
     let zid = ZenohId::default();
 
     let ke = RmwZenohFormatter::liveliness_key_expr(&entity, &zid).unwrap();
     let parsed = RmwZenohFormatter::parse_liveliness(&ke).unwrap();
 
     if let ros_z_protocol::entity::Entity::Endpoint(ep) = parsed {
-        assert_eq!(ep.kind, EntityKind::Service);
+        assert_eq!(ep.kind, EndpointKind::Service);
     } else {
         panic!("expected Endpoint entity");
     }
@@ -112,14 +121,14 @@ fn test_service_liveliness_roundtrip() {
 
 #[test]
 fn test_client_liveliness_roundtrip() {
-    let entity = endpoint_entity(0, EntityKind::Client, "/add_two_ints");
+    let entity = endpoint_entity(0, EndpointKind::Client, "/add_two_ints");
     let zid = ZenohId::default();
 
     let ke = RmwZenohFormatter::liveliness_key_expr(&entity, &zid).unwrap();
     let parsed = RmwZenohFormatter::parse_liveliness(&ke).unwrap();
 
     if let ros_z_protocol::entity::Entity::Endpoint(ep) = parsed {
-        assert_eq!(ep.kind, EntityKind::Client);
+        assert_eq!(ep.kind, EndpointKind::Client);
     } else {
         panic!("expected Endpoint entity");
     }
@@ -158,7 +167,7 @@ fn test_node_liveliness_roundtrip() {
 
 #[test]
 fn test_domain_id_zero() {
-    let entity = endpoint_entity(0, EntityKind::Publisher, "/chatter");
+    let entity = endpoint_entity(0, EndpointKind::Publisher, "/chatter");
     let zid = ZenohId::default();
 
     let ke = RmwZenohFormatter::liveliness_key_expr(&entity, &zid).unwrap();
@@ -172,7 +181,7 @@ fn test_domain_id_zero() {
 
     let parsed = RmwZenohFormatter::parse_liveliness(&ke).unwrap();
     if let ros_z_protocol::entity::Entity::Endpoint(ep) = parsed {
-        assert_eq!(ep.node.domain_id, 0);
+        assert_eq!(ep.node.as_ref().unwrap().domain_id, 0);
     } else {
         panic!("expected Endpoint");
     }
@@ -180,14 +189,14 @@ fn test_domain_id_zero() {
 
 #[test]
 fn test_domain_id_255() {
-    let entity = endpoint_entity(255, EntityKind::Subscription, "/chatter");
+    let entity = endpoint_entity(255, EndpointKind::Subscription, "/chatter");
     let zid = ZenohId::default();
 
     let ke = RmwZenohFormatter::liveliness_key_expr(&entity, &zid).unwrap();
     let parsed = RmwZenohFormatter::parse_liveliness(&ke).unwrap();
 
     if let ros_z_protocol::entity::Entity::Endpoint(ep) = parsed {
-        assert_eq!(ep.node.domain_id, 255);
+        assert_eq!(ep.node.as_ref().unwrap().domain_id, 255);
     } else {
         panic!("expected Endpoint");
     }
@@ -199,7 +208,7 @@ fn test_domain_id_255() {
 
 #[test]
 fn test_topic_with_namespace() {
-    let entity = endpoint_entity(0, EntityKind::Publisher, "/ns/topic");
+    let entity = endpoint_entity(0, EndpointKind::Publisher, "/ns/topic");
     let zid = ZenohId::default();
 
     let ke = RmwZenohFormatter::liveliness_key_expr(&entity, &zid).unwrap();
@@ -219,7 +228,7 @@ fn test_topic_with_namespace() {
 
 #[test]
 fn test_topic_without_namespace() {
-    let entity = endpoint_entity(0, EntityKind::Publisher, "/topic");
+    let entity = endpoint_entity(0, EndpointKind::Publisher, "/topic");
     let zid = ZenohId::default();
 
     let ke = RmwZenohFormatter::liveliness_key_expr(&entity, &zid).unwrap();
@@ -238,7 +247,7 @@ fn test_topic_without_namespace() {
 
 #[test]
 fn test_topic_key_expr_format() {
-    let entity = endpoint_entity(0, EntityKind::Publisher, "/chatter");
+    let entity = endpoint_entity(0, EndpointKind::Publisher, "/chatter");
     let ke = RmwZenohFormatter::topic_key_expr(&entity).unwrap();
     let ke_str = ke.to_string();
     // Format: <domain_id>/<topic>/<type>/<hash>
@@ -252,7 +261,7 @@ fn test_topic_key_expr_format() {
 
 #[test]
 fn test_topic_key_expr_preserves_internal_slashes() {
-    let entity = endpoint_entity(0, EntityKind::Publisher, "/ns/topic");
+    let entity = endpoint_entity(0, EndpointKind::Publisher, "/ns/topic");
     let ke = RmwZenohFormatter::topic_key_expr(&entity).unwrap();
     let ke_str = ke.to_string();
     // Internal slashes must be preserved (not mangled)
diff --git a/crates/ros-z-py/src/service.rs b/crates/ros-z-py/src/service.rs
index 11c3a8b0..43186aaa 100644
--- a/crates/ros-z-py/src/service.rs
+++ b/crates/ros-z-py/src/service.rs
@@ -1,7 +1,7 @@
 use crate::traits::{RawClient, RawServer};
 use pyo3::prelude::*;
 use pyo3::types::PyDict;
-use ros_z::service::QueryKey;
+use ros_z::service::RequestId;
 use std::time::Duration;
 
 /// Python wrapper for service client
@@ -27,56 +27,21 @@ impl PyZClient {
 #[allow(unsafe_op_in_unsafe_fn)]
 #[pymethods]
 impl PyZClient {
-    /// Send a service request
-    unsafe fn send_request(&self, py: Python, data: &Bound<'_, PyAny>) -> PyResult<()> {
+    /// Call a service request and wait for its response.
+    #[pyo3(signature = (data, timeout=None))]
+    unsafe fn call(
+        &self,
+        py: Python,
+        data: &Bound<'_, PyAny>,
+        timeout: Option<f64>,
+    ) -> PyResult<PyObject> {
         let cdr_bytes = ros_z_msgs::serialize_to_cdr(&self.request_type_name, data.py(), data)?;
-
-        py.allow_threads(|| {
-            self.inner
-                .send_request_serialized(&cdr_bytes)
-                .map_err(|e| pyo3::exceptions::PyRuntimeError::new_err(e.to_string()))
-        })
-    }
-
-    /// Receive a service response (blocking)
-    #[pyo3(signature = (timeout=None))]
-    unsafe fn take_response(&self, py: Python, timeout: Option<f64>) -> PyResult<Option<PyObject>> {
         let timeout_duration = timeout.map(Duration::from_secs_f64);
 
-        let result = py.allow_threads(|| self.inner.take_response_serialized(timeout_duration));
-
-        match result {
-            Ok(cdr_bytes) => {
-                let obj =
-                    ros_z_msgs::deserialize_from_cdr(&self.response_type_name, py, &cdr_bytes)?;
-                Ok(Some(obj))
-            }
-            Err(e) => {
-                let err_str = e.to_string();
-                if err_str.contains("timeout")
-                    || err_str.contains("Timeout")
-                    || err_str.contains("timed out")
-                    || err_str.contains("No sample available")
-                {
-                    Ok(None)
-                } else {
-                    Err(pyo3::exceptions::PyRuntimeError::new_err(err_str))
-                }
-            }
-        }
-    }
-
-    /// Try to receive a response without blocking
-    unsafe fn try_take_response(&self, py: Python) -> PyResult<Option<PyObject>> {
-        match self.inner.try_take_response_serialized() {
-            Ok(Some(cdr_bytes)) => {
-                let obj =
-                    ros_z_msgs::deserialize_from_cdr(&self.response_type_name, py, &cdr_bytes)?;
-                Ok(Some(obj))
-            }
-            Ok(None) => Ok(None),
-            Err(e) => Err(pyo3::exceptions::PyRuntimeError::new_err(e.to_string())),
-        }
+        let cdr_bytes = py
+            .allow_threads(|| self.inner.call_serialized(&cdr_bytes, timeout_duration))
+            .map_err(|e| pyo3::exceptions::PyRuntimeError::new_err(e.to_string()))?;
+        ros_z_msgs::deserialize_from_cdr(&self.response_type_name, py, &cdr_bytes)
     }
 
     /// Get the service type name (for debugging)
@@ -127,8 +92,8 @@ impl PyZServer {
         let obj = ros_z_msgs::deserialize_from_cdr(&self.request_type_name, py, &cdr_bytes)?;
 
         let request_id = PyDict::new_bound(py);
-        request_id.set_item("sn", key.sn)?;
-        request_id.set_item("gid", key.gid.to_vec())?;
+        request_id.set_item("sn", key.sequence_number)?;
+        request_id.set_item("gid", key.writer_guid.to_vec())?;
 
         Ok((request_id.into(), obj))
     }
@@ -147,7 +112,10 @@ impl PyZServer {
         let gid_vec: Vec<u8> = request_id.get_item("gid")?.unwrap().extract()?;
         let mut gid = [0u8; 16];
         gid.copy_from_slice(&gid_vec[..16]);
-        let key = QueryKey { sn, gid };
+        let key = RequestId {
+            sequence_number: sn,
+            writer_guid: gid,
+        };
 
         py.allow_threads(|| {
             let inner = self
diff --git a/crates/ros-z-py/src/traits.rs b/crates/ros-z-py/src/traits.rs
index 2dffc261..5a1e1865 100644
--- a/crates/ros-z-py/src/traits.rs
+++ b/crates/ros-z-py/src/traits.rs
@@ -93,19 +93,17 @@ impl RawSubscriber for GenericSubWrapper {
 
 // -- Generic service wrappers using RawBytesService --
 
-use ros_z::service::{QueryKey, ZClient, ZServer};
+use ros_z::service::{RequestId, ServiceReply, ZClient, ZServer};
 
 /// Type-erased client trait for Python interop
 pub(crate) trait RawClient: Send + Sync {
-    fn send_request_serialized(&self, data: &[u8]) -> Result<()>;
-    fn take_response_serialized(&self, timeout: Option<Duration>) -> Result<Vec<u8>>;
-    fn try_take_response_serialized(&self) -> Result<Option<Vec<u8>>>;
+    fn call_serialized(&self, data: &[u8], timeout: Option<Duration>) -> Result<Vec<u8>>;
 }
 
 /// Type-erased server trait for Python interop
 pub(crate) trait RawServer: Send + Sync {
-    fn take_request_serialized(&self) -> Result<(QueryKey, Vec<u8>)>;
-    fn send_response_serialized(&self, data: &[u8], key: &QueryKey) -> Result<()>;
+    fn take_request_serialized(&self) -> Result<(RequestId, Vec<u8>)>;
+    fn send_response_serialized(&self, data: &[u8], request_id: &RequestId) -> Result<()>;
 }
 
 /// Generic client wrapper using RawBytesService
@@ -120,85 +118,72 @@ impl GenericClientWrapper {
 }
 
 impl RawClient for GenericClientWrapper {
-    fn send_request_serialized(&self, data: &[u8]) -> Result<()> {
+    fn call_serialized(&self, data: &[u8], timeout: Option<Duration>) -> Result<Vec<u8>> {
         let request = RawBytesMessage(data.to_vec());
+        let timeout = timeout.unwrap_or(Duration::from_secs(3600));
 
         let rt = tokio::runtime::Handle::try_current()
             .or_else(|_| tokio::runtime::Runtime::new().map(|rt| rt.handle().clone()))?;
 
-        rt.block_on(async {
+        let response = rt.block_on(async {
             self.inner
-                .send_request(&request)
+                .call_or_timeout(&request, timeout)
                 .await
-                .map_err(|e| anyhow::anyhow!("Failed to send request: {}", e))
-        })
-    }
-
-    fn take_response_serialized(&self, timeout: Option<Duration>) -> Result<Vec<u8>> {
-        let timeout_duration = timeout.unwrap_or(Duration::from_secs(3600));
-        let response = self
-            .inner
-            .take_response_timeout(timeout_duration)
-            .map_err(|e| anyhow::anyhow!("Failed to receive response: {}", e))?;
+                .map_err(|e| anyhow::anyhow!("Failed to call service: {}", e))
+        })?;
 
         Ok(response.0)
     }
-
-    fn try_take_response_serialized(&self) -> Result<Option<Vec<u8>>> {
-        match self.inner.take_response_timeout(Duration::from_millis(1)) {
-            Ok(response) => Ok(Some(response.0)),
-            Err(e) => {
-                let err_str = e.to_string();
-                if err_str.contains("timeout")
-                    || err_str.contains("Timeout")
-                    || err_str.contains("No sample available")
-                {
-                    Ok(None)
-                } else {
-                    Err(anyhow::anyhow!("Failed to receive response: {}", e))
-                }
-            }
-        }
-    }
 }
 
 /// Generic server wrapper using RawBytesService
 pub struct GenericServerWrapper {
     inner: std::sync::Mutex<ZServer<RawBytesService>>,
+    pending: std::sync::Mutex<std::collections::HashMap<RequestId, ServiceReply<RawBytesService>>>,
 }
 
 impl GenericServerWrapper {
     pub fn new(inner: ZServer<RawBytesService>) -> Self {
         Self {
             inner: std::sync::Mutex::new(inner),
+            pending: std::sync::Mutex::new(std::collections::HashMap::new()),
         }
     }
 }
 
 impl RawServer for GenericServerWrapper {
-    fn take_request_serialized(&self) -> Result<(QueryKey, Vec<u8>)> {
+    fn take_request_serialized(&self) -> Result<(RequestId, Vec<u8>)> {
         let mut server = self
             .inner
             .lock()
             .map_err(|e| anyhow::anyhow!("Failed to lock server: {}", e))?;
 
-        let (key, request) = server
+        let request = server
             .take_request()
             .map_err(|e| anyhow::anyhow!("Failed to receive request: {}", e))?;
+        let (request, reply) = request.into_parts();
+        let request_id = reply.id().clone();
+
+        self.pending
+            .lock()
+            .map_err(|e| anyhow::anyhow!("Failed to lock pending replies: {}", e))?
+            .insert(request_id.clone(), reply);
 
-        Ok((key, request.0))
+        Ok((request_id, request.0))
     }
 
-    fn send_response_serialized(&self, data: &[u8], key: &QueryKey) -> Result<()> {
+    fn send_response_serialized(&self, data: &[u8], request_id: &RequestId) -> Result<()> {
         let response = RawBytesMessage(data.to_vec());
 
-        let mut server = self
-            .inner
+        let reply = self
+            .pending
             .lock()
-            .map_err(|e| anyhow::anyhow!("Failed to lock server: {}", e))?;
+            .map_err(|e| anyhow::anyhow!("Failed to lock pending replies: {}", e))?
+            .remove(request_id)
+            .ok_or_else(|| anyhow::anyhow!("Unknown request id"))?;
 
-        server
-            .send_response(&response, key)
+        reply
+            .reply_blocking(&response)
             .map_err(|e| anyhow::anyhow!("Failed to send response: {}", e))
     }
 }
diff --git a/crates/ros-z-tests/tests/common/mod.rs b/crates/ros-z-tests/tests/common/mod.rs
index 966715a2..d7640d30 100644
--- a/crates/ros-z-tests/tests/common/mod.rs
+++ b/crates/ros-z-tests/tests/common/mod.rs
@@ -209,8 +209,9 @@ pub fn wait_for_service_ready(
 
             let rt = tokio::runtime::Runtime::new()?;
             let result = rt.block_on(async {
-                client.send_request(&test_request).await?;
-                client.take_response_timeout(Duration::from_millis(500))
+                client
+                    .call_or_timeout(&test_request, Duration::from_millis(500))
+                    .await
             });
 
             if result.is_ok() {
diff --git a/crates/ros-z-tests/tests/dds_interop.rs b/crates/ros-z-tests/tests/dds_interop.rs
index bdc1f9af..b4980909 100644
--- a/crates/ros-z-tests/tests/dds_interop.rs
+++ b/crates/ros-z-tests/tests/dds_interop.rs
@@ -275,12 +275,7 @@ fn test_ros2_dds_service_server_to_ros_z_client() {
         let req = AddTwoIntsRequest { a: 15, b: 27 };
         println!("Sending request: {} + {}", req.a, req.b);
 
-        client
-            .send_request(&req)
-            .await
-            .expect("Failed to send request");
-
-        match client.take_response_timeout(Duration::from_secs(10)) {
+        match client.call_or_timeout(&req, Duration::from_secs(10)).await {
             Ok(resp) => {
                 println!("Received response: {}", resp.sum);
                 assert_eq!(resp.sum, 42, "Expected 15 + 27 = 42, got {}", resp.sum);
@@ -342,12 +337,16 @@ fn test_ros_z_service_server_to_ros2_dds_client() {
 
             // Handle one request
             match server.async_take_request().await {
-                Ok((key, req)) => {
-                    println!("Received request: {} + {}", req.a, req.b);
-                    let resp = AddTwoIntsResponse { sum: req.a + req.b };
-                    server
-                        .send_response(&resp, &key)
-                        .expect("Failed to send response");
+                Ok(req) => {
+                    println!(
+                        "Received request: {} + {}",
+                        req.message().a,
+                        req.message().b
+                    );
+                    let resp = AddTwoIntsResponse {
+                        sum: req.message().a + req.message().b,
+                    };
+                    req.reply(&resp).await.expect("Failed to send response");
                     println!("Sent response: {}", resp.sum);
                 }
                 Err(e) => {
diff --git a/crates/ros-z-tests/tests/humble_jazzy_bridge.rs b/crates/ros-z-tests/tests/humble_jazzy_bridge.rs
index cb520b9d..d23fa52d 100644
--- a/crates/ros-z-tests/tests/humble_jazzy_bridge.rs
+++ b/crates/ros-z-tests/tests/humble_jazzy_bridge.rs
@@ -145,9 +145,8 @@ fn test_service_humble_server_jazzy_client() {
             .expect("failed to create client");
 
         let req = ros_z_msgs::ros::example_interfaces::AddTwoIntsRequest { a: 3, b: 7 };
-        client.send_request(&req).await?;
         // ctx / node / client are dropped here, inside the runtime
-        client.take_response_timeout(Duration::from_secs(20))
+        client.call_or_timeout(&req, Duration::from_secs(20)).await
     });
 
     let response = response.expect("did not receive service response within timeout");
@@ -187,13 +186,16 @@ fn test_service_jazzy_server_humble_client() {
         // Handle one request or give up after 10 s.
         let deadline = tokio::time::Instant::now() + Duration::from_secs(10);
         loop {
-            if let Ok((key, req)) = server.take_request() {
-                let resp =
-                    ros_z_msgs::ros::example_interfaces::AddTwoIntsResponse { sum: req.a + req.b };
-                let _ = server.send_response(&resp, &key);
+            if let Ok(req) = server.take_request() {
+                let resp = ros_z_msgs::ros::example_interfaces::AddTwoIntsResponse {
+                    sum: req.message().a + req.message().b,
+                };
+                let _ = req.reply_blocking(&resp);
                 println!(
                     "Handled Humble→Jazzy service call: {} + {} = {}",
-                    req.a, req.b, resp.sum
+                    req.message().a,
+                    req.message().b,
+                    resp.sum
                 );
                 break;
             }
diff --git a/crates/ros-z-tests/tests/parameter_tests.rs b/crates/ros-z-tests/tests/parameter_tests.rs
index 88986fc6..5393b49a 100644
--- a/crates/ros-z-tests/tests/parameter_tests.rs
+++ b/crates/ros-z-tests/tests/parameter_tests.rs
@@ -519,15 +519,14 @@ mod service_tests {
                 .build()
                 .expect("get client");
 
-            get_client
-                .send_request(&GetParametersRequest {
-                    names: vec!["value".to_string()],
-                })
-                .await
-                .expect("send");
-
             let resp: GetParametersResponse = get_client
-                .take_response_timeout(Duration::from_secs(5))
+                .call_or_timeout(
+                    &GetParametersRequest {
+                        names: vec!["value".to_string()],
+                    },
+                    Duration::from_secs(5),
+                )
+                .await
                 .expect("response");
 
             assert_eq!(resp.values.len(), 1);
@@ -540,16 +539,15 @@ mod service_tests {
                 .build()
                 .expect("list client");
 
-            list_client
-                .send_request(&ListParametersRequest {
-                    prefixes: vec![],
-                    depth: 0,
-                })
-                .await
-                .expect("send");
-
             let list_resp: ListParametersResponse = list_client
-                .take_response_timeout(Duration::from_secs(5))
+                .call_or_timeout(
+                    &ListParametersRequest {
+                        prefixes: vec![],
+                        depth: 0,
+                    },
+                    Duration::from_secs(5),
+                )
+                .await
                 .expect("list response");
 
             assert!(list_resp.result.names.contains(&"value".to_string()));
@@ -564,18 +562,17 @@ mod service_tests {
             wire_value.r#type = 2;
             wire_value.integer_value = 42;
 
-            set_client
-                .send_request(&SetParametersRequest {
-                    parameters: vec![rcl_interfaces::Parameter {
-                        name: "value".to_string(),
-                        value: wire_value,
-                    }],
-                })
-                .await
-                .expect("send");
-
             let set_resp: SetParametersResponse = set_client
-                .take_response_timeout(Duration::from_secs(5))
+                .call_or_timeout(
+                    &SetParametersRequest {
+                        parameters: vec![rcl_interfaces::Parameter {
+                            name: "value".to_string(),
+                            value: wire_value,
+                        }],
+                    },
+                    Duration::from_secs(5),
+                )
+                .await
                 .expect("set response");
 
             assert_eq!(set_resp.results.len(), 1);
@@ -591,15 +588,14 @@ mod service_tests {
                 .build()
                 .expect("types client");
 
-            types_client
-                .send_request(&GetParameterTypesRequest {
-                    names: vec!["value".to_string(), "nonexistent".to_string()],
-                })
-                .await
-                .expect("send");
-
             let types_resp: GetParameterTypesResponse = types_client
-                .take_response_timeout(Duration::from_secs(5))
+                .call_or_timeout(
+                    &GetParameterTypesRequest {
+                        names: vec!["value".to_string(), "nonexistent".to_string()],
+                    },
+                    Duration::from_secs(5),
+                )
+                .await
                 .expect("types response");
 
             let type_bytes = types_resp.types.contiguous();
@@ -613,15 +609,14 @@ mod service_tests {
                 .build()
                 .expect("desc client");
 
-            desc_client
-                .send_request(&DescribeParametersRequest {
-                    names: vec!["value".to_string()],
-                })
-                .await
-                .expect("send");
-
             let desc_resp: DescribeParametersResponse = desc_client
-                .take_response_timeout(Duration::from_secs(5))
+                .call_or_timeout(
+                    &DescribeParametersRequest {
+                        names: vec!["value".to_string()],
+                    },
+                    Duration::from_secs(5),
+                )
+                .await
                 .expect("desc response");
 
             assert_eq!(desc_resp.descriptors.len(), 1);
@@ -689,15 +684,14 @@ mod service_tests {
                 .build()
                 .expect("atomic client");
 
-            atomic_client
-                .send_request(&SetParametersAtomicallyRequest {
-                    parameters: vec![make_int("a", 10), make_int("b", 20)],
-                })
-                .await
-                .expect("send");
-
             let atomic_resp: SetParametersAtomicallyResponse = atomic_client
-                .take_response_timeout(Duration::from_secs(5))
+                .call_or_timeout(
+                    &SetParametersAtomicallyRequest {
+                        parameters: vec![make_int("a", 10), make_int("b", 20)],
+                    },
+                    Duration::from_secs(5),
+                )
+                .await
                 .expect("atomic response");
 
             assert!(
@@ -716,15 +710,14 @@ mod service_tests {
                 .build()
                 .expect("get client");
 
-            get_client
-                .send_request(&GetParametersRequest {
-                    names: vec!["a".to_string(), "b".to_string()],
-                })
-                .await
-                .expect("send");
-
             let get_resp: GetParametersResponse = get_client
-                .take_response_timeout(Duration::from_secs(5))
+                .call_or_timeout(
+                    &GetParametersRequest {
+                        names: vec!["a".to_string(), "b".to_string()],
+                    },
+                    Duration::from_secs(5),
+                )
+                .await
                 .expect("get response");
 
             assert_eq!(get_resp.values.len(), 2);
@@ -777,15 +770,14 @@ mod service_tests {
                 }
             };
 
-            atomic_client
-                .send_request(&SetParametersAtomicallyRequest {
-                    parameters: vec![make_int("a", 10), make_int("b", 20)],
-                })
-                .await
-                .expect("send");
-
             let resp: SetParametersAtomicallyResponse = atomic_client
-                .take_response_timeout(Duration::from_secs(5))
+                .call_or_timeout(
+                    &SetParametersAtomicallyRequest {
+                        parameters: vec![make_int("a", 10), make_int("b", 20)],
+                    },
+                    Duration::from_secs(5),
+                )
+                .await
                 .expect("atomic response");
 
             assert!(
diff --git a/crates/ros-z-tests/tests/python_interop.rs b/crates/ros-z-tests/tests/python_interop.rs
index 2d1c42e6..91b4ffde 100644
--- a/crates/ros-z-tests/tests/python_interop.rs
+++ b/crates/ros-z-tests/tests/python_interop.rs
@@ -243,11 +243,8 @@ fn test_python_server_rust_client() {
         let rt = tokio::runtime::Runtime::new().unwrap();
         rt.block_on(async {
             client
-                .send_request(&request)
+                .call_or_timeout(&request, Duration::from_secs(5))
                 .await
-                .expect("Failed to send request");
-            client
-                .take_response_timeout(Duration::from_secs(5))
                 .map(|resp| resp.sum)
         })
     })
@@ -295,13 +292,17 @@ fn test_rust_server_python_client() {
         // Handle one request with polling
         let start = std::time::Instant::now();
         while start.elapsed() < Duration::from_secs(10) {
-            if let Ok((key, req)) = server.take_request() {
-                let sum = req.a + req.b;
-                println!("  [rust] Received: {} + {} = {}", req.a, req.b, sum);
+            if let Ok(req) = server.take_request() {
+                let sum = req.message().a + req.message().b;
+                println!(
+                    "  [rust] Received: {} + {} = {}",
+                    req.message().a,
+                    req.message().b,
+                    sum
+                );
 
                 let response = AddTwoIntsResponse { sum };
-                server
-                    .send_response(&response, &key)
+                req.reply_blocking(&response)
                     .expect("Failed to send response");
                 break;
             }
diff --git a/crates/ros-z-tests/tests/service_interop.rs b/crates/ros-z-tests/tests/service_interop.rs
index 7b17034e..2d8fc936 100644
--- a/crates/ros-z-tests/tests/service_interop.rs
+++ b/crates/ros-z-tests/tests/service_interop.rs
@@ -30,7 +30,6 @@ fn test_ros_z_server_ros_z_client() {
             .build()
             .expect("Failed to create node");
 
-        // Correct API: use tuple type and take_request/send_response pattern
         let mut zsrv = node
             .create_service::<AddTwoInts>("add_two_ints_test1")
             .build()
@@ -39,12 +38,17 @@ fn test_ros_z_server_ros_z_client() {
         println!("Server ready, waiting for requests...");
 
         // Handle one request
-        if let Ok((key, req)) = zsrv.take_request() {
-            println!("Received request: {} + {}", req.a, req.b);
-            let resp = AddTwoIntsResponse { sum: req.a + req.b };
+        if let Ok(req) = zsrv.take_request() {
+            println!(
+                "Received request: {} + {}",
+                req.message().a,
+                req.message().b
+            );
+            let resp = AddTwoIntsResponse {
+                sum: req.message().a + req.message().b,
+            };
             println!("Sending response: {}", resp.sum);
-            zsrv.send_response(&resp, &key)
-                .expect("Failed to send response");
+            req.reply_blocking(&resp).expect("Failed to send response");
         }
     });
 
@@ -72,13 +76,9 @@ fn test_ros_z_server_ros_z_client() {
 
             println!("Sending request...");
 
-            let req = AddTwoIntsRequest { a: 5, b: 3 };
-            zcli.send_request(&req)
-                .await
-                .expect("Failed to send request");
-
             let resp = zcli
-                .take_response_timeout(Duration::from_secs(5))
+                .call_or_timeout(&AddTwoIntsRequest { a: 5, b: 3 }, Duration::from_secs(5))
+                .await
                 .expect("Failed to receive response");
             println!("Received response: {}", resp.sum);
 
@@ -115,11 +115,16 @@ fn test_ros_z_server_ros_z_client_multipart_name() {
 
         println!("Server ready (multi-part name), waiting for requests...");
 
-        if let Ok((key, req)) = zsrv.take_request() {
-            println!("Received request: {} + {}", req.a, req.b);
-            let resp = AddTwoIntsResponse { sum: req.a + req.b };
-            zsrv.send_response(&resp, &key)
-                .expect("Failed to send response");
+        if let Ok(req) = zsrv.take_request() {
+            println!(
+                "Received request: {} + {}",
+                req.message().a,
+                req.message().b
+            );
+            let resp = AddTwoIntsResponse {
+                sum: req.message().a + req.message().b,
+            };
+            req.reply_blocking(&resp).expect("Failed to send response");
         }
     });
 
@@ -143,13 +148,9 @@ fn test_ros_z_server_ros_z_client_multipart_name() {
             println!("Client ready, waiting...");
             tokio::time::sleep(Duration::from_millis(500)).await;
 
-            let req = AddTwoIntsRequest { a: 7, b: 5 };
-            zcli.send_request(&req)
-                .await
-                .expect("Failed to send request");
-
             let resp = zcli
-                .take_response_timeout(Duration::from_secs(5))
+                .call_or_timeout(&AddTwoIntsRequest { a: 7, b: 5 }, Duration::from_secs(5))
+                .await
                 .expect("Failed to receive response");
             println!("Received response: {}", resp.sum);
 
@@ -192,12 +193,17 @@ fn test_ros_z_server_ros2_client() {
         println!("Server ready for ROS2 client...");
 
         // Handle one request
-        if let Ok((key, req)) = zsrv.take_request() {
-            println!("Received request from ROS2: {} + {}", req.a, req.b);
-            let resp = AddTwoIntsResponse { sum: req.a + req.b };
+        if let Ok(req) = zsrv.take_request() {
+            println!(
+                "Received request from ROS2: {} + {}",
+                req.message().a,
+                req.message().b
+            );
+            let resp = AddTwoIntsResponse {
+                sum: req.message().a + req.message().b,
+            };
             println!("Sending response: {}", resp.sum);
-            zsrv.send_response(&resp, &key)
-                .expect("Failed to send response");
+            req.reply_blocking(&resp).expect("Failed to send response");
         }
     });
 
@@ -260,12 +266,17 @@ fn test_ros_z_server_ros2_client_multipart() {
 
         println!("Server ready for ROS2 client (multi-part name)...");
 
-        if let Ok((key, req)) = zsrv.take_request() {
-            println!("Received request from ROS2: {} + {}", req.a, req.b);
-            let resp = AddTwoIntsResponse { sum: req.a + req.b };
+        if let Ok(req) = zsrv.take_request() {
+            println!(
+                "Received request from ROS2: {} + {}",
+                req.message().a,
+                req.message().b
+            );
+            let resp = AddTwoIntsResponse {
+                sum: req.message().a + req.message().b,
+            };
             println!("Sending response: {}", resp.sum);
-            zsrv.send_response(&resp, &key)
-                .expect("Failed to send response");
+            req.reply_blocking(&resp).expect("Failed to send response");
         }
     });
 
@@ -357,13 +368,12 @@ fn test_ros2_server_ros_z_client_multipart() {
 
             println!("Calling ROS2 multi-part server...");
 
-            let req = AddTwoIntsRequest { a: 11, b: 13 };
-            zcli.send_request(&req)
-                .await
-                .expect("Failed to send request");
-
             let resp = zcli
-                .take_response_timeout(std::time::Duration::from_secs(5))
+                .call_or_timeout(
+                    &AddTwoIntsRequest { a: 11, b: 13 },
+                    std::time::Duration::from_secs(5),
+                )
+                .await
                 .expect("Failed to receive response");
             println!("Received response from ROS2: {}", resp.sum);
 
@@ -440,13 +450,12 @@ fn test_ros2_server_ros_z_client() {
 
             println!("Calling ROS2 server...");
 
-            let req = AddTwoIntsRequest { a: 15, b: 9 };
-            zcli.send_request(&req)
-                .await
-                .expect("Failed to send request");
-
             let resp = zcli
-                .take_response_timeout(std::time::Duration::from_secs(5))
+                .call_or_timeout(
+                    &AddTwoIntsRequest { a: 15, b: 9 },
+                    std::time::Duration::from_secs(5),
+                )
+                .await
                 .expect("Failed to receive response");
             println!("Received response from ROS2: {}", resp.sum);
 
diff --git a/crates/ros-z-tests/tests/type_description_integration.rs b/crates/ros-z-tests/tests/type_description_integration.rs
index a57d342e..33603d02 100644
--- a/crates/ros-z-tests/tests/type_description_integration.rs
+++ b/crates/ros-z-tests/tests/type_description_integration.rs
@@ -111,10 +111,13 @@ fn test_static_pub_dynamic_sub_with_type_discovery() {
 
             // Discover schema and create dynamic subscriber
             println!("Discovering schema from publisher...");
-            let (subscriber, discovered_schema) = sub_node
+            let subscriber = sub_node
                 .create_dyn_sub_auto("/test_topic", Duration::from_secs(15))
                 .await
+                .expect("Failed to create dynamic subscriber builder with auto-discovery")
+                .build()
                 .expect("Failed to create dynamic subscriber with auto-discovery");
+            let discovered_schema = subscriber.schema().expect("discovered schema");
 
             println!("Discovered schema: {}", discovered_schema.type_name);
             assert_eq!(discovered_schema.type_name, "std_msgs/msg/String");
@@ -204,6 +207,7 @@ fn test_dynamic_pub_dynamic_sub_with_type_discovery() {
             // Create dynamic publisher (auto-registers schema)
             let publisher = pub_node
                 .create_dyn_pub("/point_topic", schema.clone())
+                .build()
                 .expect("Failed to create dynamic publisher");
 
             println!(
@@ -252,10 +256,13 @@ fn test_dynamic_pub_dynamic_sub_with_type_discovery() {
 
             // Discover schema and create dynamic subscriber
             println!("Discovering schema from dynamic publisher...");
-            let (subscriber, discovered_schema) = sub_node
+            let subscriber = sub_node
                 .create_dyn_sub_auto("/point_topic", Duration::from_secs(15))
                 .await
+                .expect("Failed to create dynamic subscriber builder with auto-discovery")
+                .build()
                 .expect("Failed to create dynamic subscriber with auto-discovery");
+            let discovered_schema = subscriber.schema().expect("discovered schema");
 
             println!("Discovered schema: {}", discovered_schema.type_name);
             assert_eq!(discovered_schema.type_name, "geometry_msgs/msg/Point");
@@ -341,6 +348,7 @@ fn test_dynamic_pub_static_sub() {
             // Create dynamic publisher
             let publisher = pub_node
                 .create_dyn_pub("/dyn_to_static", schema.clone())
+                .build()
                 .expect("Failed to create dynamic publisher");
 
             println!("Dynamic publisher created");
@@ -462,6 +470,7 @@ fn test_static_pub_dynamic_sub_known_schema() {
 
             let subscriber = sub_node
                 .create_dyn_sub("/static_to_dyn", schema)
+                .build()
                 .expect("Failed to create dynamic subscriber");
 
             println!("Dynamic subscriber created with known schema");
@@ -555,6 +564,7 @@ fn test_multiple_publishers_schema_discovery() {
 
             let publisher1 = pub1_node
                 .create_dyn_pub("/multi_pub_topic", schema.clone())
+                .build()
                 .expect("Failed to create publisher 1");
 
             // Create second publisher with type description service
@@ -568,6 +578,7 @@ fn test_multiple_publishers_schema_discovery() {
 
             let publisher2 = pub2_node
                 .create_dyn_pub("/multi_pub_topic", schema.clone())
+                .build()
                 .expect("Failed to create publisher 2");
 
             println!("Two publishers created on /multi_pub_topic");
@@ -584,10 +595,13 @@ fn test_multiple_publishers_schema_discovery() {
                 .expect("Failed to create subscriber node");
 
             println!("Discovering schema from publishers...");
-            let (subscriber, discovered_schema) = sub_node
+            let subscriber = sub_node
                 .create_dyn_sub_auto("/multi_pub_topic", Duration::from_secs(15))
                 .await
+                .expect("Failed to create subscriber builder with auto-discovery")
+                .build()
                 .expect("Failed to create subscriber with auto-discovery");
+            let discovered_schema = subscriber.schema().expect("discovered schema");
 
             println!("Discovered schema: {}", discovered_schema.type_name);
 
diff --git a/crates/ros-z-tests/tests/type_description_interop.rs b/crates/ros-z-tests/tests/type_description_interop.rs
index 68814c89..a2b0c49b 100644
--- a/crates/ros-z-tests/tests/type_description_interop.rs
+++ b/crates/ros-z-tests/tests/type_description_interop.rs
@@ -143,14 +143,9 @@ fn test_get_type_description_from_ros2_talker() {
                 include_type_sources: true,
             };
 
-            println!("Calling GetTypeDescription for std_msgs/msg/String...");
-            zcli.send_request(&req)
-                .await
-                .expect("Failed to send request");
-
-            println!("Waiting for response (timeout: 15s)...");
             let resp = zcli
-                .take_response_timeout(Duration::from_secs(15))
+                .call_or_timeout(&req, Duration::from_secs(15))
+                .await
                 .expect("Failed to receive response");
 
             resp
@@ -256,13 +251,9 @@ fn test_get_type_description_without_sources() {
                 include_type_sources: false,
             };
 
-            println!("Calling GetTypeDescription without hash...");
-            zcli.send_request(&req)
-                .await
-                .expect("Failed to send request");
-
             let resp = zcli
-                .take_response_timeout(Duration::from_secs(15))
+                .call_or_timeout(&req, Duration::from_secs(15))
+                .await
                 .expect("Failed to receive response");
 
             resp
@@ -388,12 +379,9 @@ fn test_dynamic_subscriber_from_type_description() {
                 include_type_sources: false,
             };
 
-            zcli.send_request(&req)
-                .await
-                .expect("Failed to send request");
-
             let resp = zcli
-                .take_response_timeout(Duration::from_secs(15))
+                .call_or_timeout(&req, Duration::from_secs(15))
+                .await
                 .expect("Failed to receive GetTypeDescription response");
 
             assert!(
diff --git a/crates/ros-z/Cargo.toml b/crates/ros-z/Cargo.toml
index f4bdb281..a1e78dfd 100644
--- a/crates/ros-z/Cargo.toml
+++ b/crates/ros-z/Cargo.toml
@@ -34,6 +34,7 @@ prost = { workspace = true, optional = true }
 pyo3 = { workspace = true, optional = true }
 ros-z-cdr = { workspace = true }
 ros-z-codegen = { workspace = true, optional = true }
+ros-z-derive = { path = "../ros-z-derive" }
 ros-z-protocol = { path = "../ros-z-protocol", default-features = false, features = [
   "std",
 ] }
@@ -47,6 +48,7 @@ paste = "1.0"
 ros-z-msgs = { path = "../ros-z-msgs" }
 ros-z-codegen = { path = "../ros-z-codegen" }
 serial_test = "3.0"
+trybuild = "1.0"
 
 [build-dependencies]
 serde = { workspace = true, features = ["serde_derive"] }
diff --git a/crates/ros-z/examples/demo_nodes/add_two_ints_client.rs b/crates/ros-z/examples/demo_nodes/add_two_ints_client.rs
index 742a7318..c451856b 100644
--- a/crates/ros-z/examples/demo_nodes/add_two_ints_client.rs
+++ b/crates/ros-z/examples/demo_nodes/add_two_ints_client.rs
@@ -34,15 +34,13 @@ pub fn run_add_two_ints_client(ctx: ZContext, a: i64, b: i64, async_mode: bool)
 
     // Wait for the response
     let resp = if async_mode {
-        tokio::runtime::Runtime::new().unwrap().block_on(async {
-            client.send_request(&req).await?;
-            client.async_take_response().await
-        })?
+        tokio::runtime::Runtime::new()
+            .unwrap()
+            .block_on(async { client.call(&req).await })?
     } else {
         tokio::runtime::Runtime::new()
             .unwrap()
-            .block_on(async { client.send_request(&req).await })?;
-        client.take_response_timeout(Duration::from_secs(5))?
+            .block_on(async { client.call_or_timeout(&req, Duration::from_secs(5)).await })?
     };
 
     println!("Received response: {}", resp.sum);
diff --git a/crates/ros-z/examples/demo_nodes/add_two_ints_server.rs b/crates/ros-z/examples/demo_nodes/add_two_ints_server.rs
index c99dcc4d..ac7c9043 100644
--- a/crates/ros-z/examples/demo_nodes/add_two_ints_server.rs
+++ b/crates/ros-z/examples/demo_nodes/add_two_ints_server.rs
@@ -25,11 +25,15 @@ pub fn run_add_two_ints_server(ctx: ZContext, max_requests: Option<usize>) -> Re
     // ANCHOR: request_loop
     loop {
         // Wait for a request
-        let (key, req) = service.take_request()?;
-        println!("Incoming request\na: {} b: {}", req.a, req.b);
+        let req = service.take_request()?;
+        println!(
+            "Incoming request\na: {} b: {}",
+            req.message().a,
+            req.message().b
+        );
 
         // Compute the sum
-        let sum = req.a + req.b;
+        let sum = req.message().a + req.message().b;
 
         // Create the response
         let resp = AddTwoIntsResponse { sum };
@@ -37,7 +41,7 @@ pub fn run_add_two_ints_server(ctx: ZContext, max_requests: Option<usize>) -> Re
         println!("Sending response: {}", resp.sum);
 
         // Send the response
-        service.send_response(&resp, &key)?;
+        req.reply_blocking(&resp)?;
 
         request_count += 1;
 
diff --git a/crates/ros-z/examples/protobuf_demo/src/lib.rs b/crates/ros-z/examples/protobuf_demo/src/lib.rs
index caa6bea3..8e3c901b 100644
--- a/crates/ros-z/examples/protobuf_demo/src/lib.rs
+++ b/crates/ros-z/examples/protobuf_demo/src/lib.rs
@@ -123,8 +123,9 @@ pub fn run_service_client(
 
         // Send request and wait for response using the shared runtime
         let response = rt.block_on(async {
-            client.send_request(&request).await?;
-            client.take_response_timeout(Duration::from_secs(5))
+            client
+                .call_or_timeout(&request, Duration::from_secs(5))
+                .await
         })?;
 
         if response.success {
@@ -172,47 +173,50 @@ pub fn run_service_server(
 
     loop {
         match server.take_request() {
-            Ok((key, request)) => {
+            Ok(request) => {
                 consecutive_errors = 0; // Reset error counter on success
                 count += 1;
                 println!(
                     "[Server] Request {}: {} {} {}",
-                    count, request.a, request.operation, request.b
+                    count,
+                    request.message().a,
+                    request.message().operation,
+                    request.message().b
                 );
 
-                let response = match request.operation.as_str() {
+                let response = match request.message().operation.as_str() {
                     "add" => types::CalculateResponse {
                         success: true,
-                        result: request.a + request.b,
+                        result: request.message().a + request.message().b,
                         message: format!(
                             "{} + {} = {}",
-                            request.a,
-                            request.b,
-                            request.a + request.b
+                            request.message().a,
+                            request.message().b,
+                            request.message().a + request.message().b
                         ),
                     },
                     "subtract" => types::CalculateResponse {
                         success: true,
-                        result: request.a - request.b,
+                        result: request.message().a - request.message().b,
                         message: format!(
                             "{} - {} = {}",
-                            request.a,
-                            request.b,
-                            request.a - request.b
+                            request.message().a,
+                            request.message().b,
+                            request.message().a - request.message().b
                         ),
                     },
                     "multiply" => types::CalculateResponse {
                         success: true,
-                        result: request.a * request.b,
+                        result: request.message().a * request.message().b,
                         message: format!(
                             "{} * {} = {}",
-                            request.a,
-                            request.b,
-                            request.a * request.b
+                            request.message().a,
+                            request.message().b,
+                            request.message().a * request.message().b
                         ),
                     },
                     "divide" => {
-                        if request.b == 0.0 {
+                        if request.message().b == 0.0 {
                             types::CalculateResponse {
                                 success: false,
                                 result: 0.0,
@@ -221,12 +225,12 @@ pub fn run_service_server(
                         } else {
                             types::CalculateResponse {
                                 success: true,
-                                result: request.a / request.b,
+                                result: request.message().a / request.message().b,
                                 message: format!(
                                     "{} / {} = {}",
-                                    request.a,
-                                    request.b,
-                                    request.a / request.b
+                                    request.message().a,
+                                    request.message().b,
+                                    request.message().a / request.message().b
                                 ),
                             }
                         }
@@ -234,11 +238,14 @@ pub fn run_service_server(
                     _ => types::CalculateResponse {
                         success: false,
                         result: 0.0,
-                        message: format!("Error: Unknown operation '{}'", request.operation),
+                        message: format!(
+                            "Error: Unknown operation '{}'",
+                            request.message().operation
+                        ),
                     },
                 };
 
-                if let Err(e) = server.send_response(&response, &key) {
+                if let Err(e) = request.reply_blocking(&response) {
                     eprintln!("[Server] Failed to send response: {}", e);
                     consecutive_errors += 1;
                 }
diff --git a/crates/ros-z/examples/z_custom_message.rs b/crates/ros-z/examples/z_custom_message.rs
index cbb99b4e..b00cd243 100644
--- a/crates/ros-z/examples/z_custom_message.rs
+++ b/crates/ros-z/examples/z_custom_message.rs
@@ -9,7 +9,8 @@ use ros_z::{
 use serde::{Deserialize, Serialize};
 
 // Custom message for pub/sub example
-#[derive(Debug, Clone, Serialize, Deserialize, Default)]
+#[derive(Debug, Clone, Serialize, Deserialize, Default, MessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/msg/RobotStatus")]
 pub struct RobotStatus {
     pub robot_id: String,
     pub battery_percentage: f64,
@@ -18,66 +19,32 @@ pub struct RobotStatus {
     pub is_moving: bool,
 }
 
-impl MessageTypeInfo for RobotStatus {
-    fn type_name() -> &'static str {
-        "custom_msgs::msg::dds_::RobotStatus_"
-    }
-
-    fn type_hash() -> TypeHash {
-        TypeHash::zero()
-    }
-}
-
-impl ros_z::WithTypeInfo for RobotStatus {}
-
 impl ros_z::msg::ZMessage for RobotStatus {
     type Serdes = ros_z::msg::SerdeCdrSerdes<RobotStatus>;
 }
 
 // Custom service request
-#[derive(Debug, Clone, Serialize, Deserialize, Default)]
+#[derive(Debug, Clone, Serialize, Deserialize, Default, MessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/srv/NavigateTo_Request")]
 pub struct NavigateToRequest {
     pub target_x: f64,
     pub target_y: f64,
     pub max_speed: f64,
 }
 
-impl MessageTypeInfo for NavigateToRequest {
-    fn type_name() -> &'static str {
-        "custom_msgs::srv::dds_::NavigateTo_Request_"
-    }
-
-    fn type_hash() -> TypeHash {
-        TypeHash::zero()
-    }
-}
-
-impl ros_z::WithTypeInfo for NavigateToRequest {}
-
 impl ros_z::msg::ZMessage for NavigateToRequest {
     type Serdes = ros_z::msg::SerdeCdrSerdes<NavigateToRequest>;
 }
 
 // Custom service response
-#[derive(Debug, Clone, Serialize, Deserialize, Default)]
+#[derive(Debug, Clone, Serialize, Deserialize, Default, MessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/srv/NavigateTo_Response")]
 pub struct NavigateToResponse {
     pub success: bool,
     pub estimated_duration: f64,
     pub message: String,
 }
 
-impl MessageTypeInfo for NavigateToResponse {
-    fn type_name() -> &'static str {
-        "custom_msgs::srv::dds_::NavigateTo_Response_"
-    }
-
-    fn type_hash() -> TypeHash {
-        TypeHash::zero()
-    }
-}
-
-impl ros_z::WithTypeInfo for NavigateToResponse {}
-
 impl ros_z::msg::ZMessage for NavigateToResponse {
     type Serdes = ros_z::msg::SerdeCdrSerdes<NavigateToResponse>;
 }
@@ -153,9 +120,14 @@ async fn run_status_publisher(robot_id: String) -> Result<()> {
     println!("Starting robot status publisher for robot: {robot_id}");
 
     let ctx = ZContextBuilder::default().build()?;
-    let node = ctx.create_node("robot_status_publisher").build()?;
+    let node = ctx
+        .create_node("robot_status_publisher")
+        .with_type_description_service()
+        .build()?;
     let zpub = node.create_pub::<RobotStatus>("/robot_status").build()?;
 
+    println!("Type description service enabled for automatic schema registration");
+
     let mut position_x = 0.0;
     let mut position_y = 0.0;
     let mut battery = 100.0;
@@ -233,19 +205,23 @@ pub fn run_navigation_server(ctx: ros_z::context::ZContext) -> Result<()> {
     println!("Navigation server ready, waiting for requests...");
 
     loop {
-        if let Ok((request_id, request)) = zsrv.take_request() {
+        if let Ok(request) = zsrv.take_request() {
             println!(
                 "Received navigation request: target=({:.1}, {:.1}), max_speed={:.1}",
-                request.target_x, request.target_y, request.max_speed
+                request.message().target_x,
+                request.message().target_y,
+                request.message().max_speed
             );
 
             // Simulate path planning
             std::thread::sleep(Duration::from_millis(500));
 
-            let distance = (request.target_x.powi(2) + request.target_y.powi(2)).sqrt();
-            let duration = distance / request.max_speed;
+            let distance =
+                (request.message().target_x.powi(2) + request.message().target_y.powi(2)).sqrt();
+            let duration = distance / request.message().max_speed;
 
-            let response = if request.max_speed > 0.0 && request.max_speed < 5.0 {
+            let response = if request.message().max_speed > 0.0 && request.message().max_speed < 5.0
+            {
                 NavigateToResponse {
                     success: true,
                     estimated_duration: duration,
@@ -263,7 +239,7 @@ pub fn run_navigation_server(ctx: ros_z::context::ZContext) -> Result<()> {
             };
 
             println!("Sending response: {:?}", response);
-            zsrv.send_response(&response, &request_id)?;
+            request.reply_blocking(&response)?;
         }
 
         std::thread::sleep(Duration::from_millis(100));
@@ -292,22 +268,14 @@ pub fn run_navigation_client(
         request.target_x, request.target_y, request.max_speed
     );
 
-    tokio::runtime::Runtime::new()
+    let response = tokio::runtime::Runtime::new()
         .unwrap()
-        .block_on(async { zcli.send_request(&request).await })?;
-
-    println!("Waiting for response...");
+        .block_on(async { zcli.call(&request).await })?;
 
-    loop {
-        if let Ok(response) = zcli.take_response() {
-            println!("Received response:");
-            println!("Success: {}", response.success);
-            println!("Duration: {:.2}s", response.estimated_duration);
-            println!("Message: {}", response.message);
-            break;
-        }
-        std::thread::sleep(Duration::from_millis(100));
-    }
+    println!("Received response:");
+    println!("Success: {}", response.success);
+    println!("Duration: {:.2}s", response.estimated_duration);
+    println!("Message: {}", response.message);
 
     Ok(())
 }
diff --git a/crates/ros-z/examples/z_pubsub_ros2dds.rs b/crates/ros-z/examples/z_pubsub_ros2dds.rs
index 2429c9b7..482a1008 100644
--- a/crates/ros-z/examples/z_pubsub_ros2dds.rs
+++ b/crates/ros-z/examples/z_pubsub_ros2dds.rs
@@ -37,7 +37,7 @@ use ros_z::{
     entity::{NodeEntity, TypeInfo},
 };
 use ros_z_cdr::{CdrSerializer, LittleEndian};
-use ros_z_protocol::entity::{EndpointEntity, EntityKind};
+use ros_z_protocol::entity::{EndpointEntity, EndpointKind};
 use serde::{Deserialize, Serialize};
 use zenoh::{Wait, key_expr::KeyExpr};
 
@@ -120,13 +120,13 @@ async fn main() -> ros_z::Result<()> {
     };
 
     let entity_kind = match args.role.as_str() {
-        "talker" => EntityKind::Publisher,
-        _ => EntityKind::Subscription,
+        "talker" => EndpointKind::Publisher,
+        _ => EndpointKind::Subscription,
     };
 
     let entity = EndpointEntity {
         id: 1,
-        node,
+        node: Some(node),
         kind: entity_kind,
         topic: topic.clone(),
         type_info: Some(type_info),
diff --git a/crates/ros-z/examples/z_srvcli.rs b/crates/ros-z/examples/z_srvcli.rs
index 2dda3b2a..95eb6938 100644
--- a/crates/ros-z/examples/z_srvcli.rs
+++ b/crates/ros-z/examples/z_srvcli.rs
@@ -66,13 +66,19 @@ pub fn run_server(ctx: ZContext) -> Result<()> {
     println!("AddTwoInts service server started, waiting for requests...");
 
     loop {
-        let (key, req) = zsrv.take_request()?;
-        println!("Received request: {} + {}", req.a, req.b);
+        let req = zsrv.take_request()?;
+        println!(
+            "Received request: {} + {}",
+            req.message().a,
+            req.message().b
+        );
 
-        let resp = AddTwoIntsResponse { sum: req.a + req.b };
+        let resp = AddTwoIntsResponse {
+            sum: req.message().a + req.message().b,
+        };
 
         println!("Sending response: {}", resp.sum);
-        zsrv.send_response(&resp, &key)?;
+        req.reply_blocking(&resp)?;
     }
 }
 
@@ -85,8 +91,9 @@ pub async fn run_client(ctx: ZContext, a: i64, b: i64) -> Result<()> {
     let req = AddTwoIntsRequest { a, b };
     println!("Sending request: {} + {}", req.a, req.b);
 
-    zcli.send_request(&req).await?;
-    let resp = zcli.take_response_timeout(std::time::Duration::from_secs(5))?;
+    let resp = zcli
+        .call_or_timeout(&req, std::time::Duration::from_secs(5))
+        .await?;
 
     println!("Received response: {}", resp.sum);
 
diff --git a/crates/ros-z/examples/z_srvcli_ros2dds.rs b/crates/ros-z/examples/z_srvcli_ros2dds.rs
index 0b557bd3..7cdb4c9a 100644
--- a/crates/ros-z/examples/z_srvcli_ros2dds.rs
+++ b/crates/ros-z/examples/z_srvcli_ros2dds.rs
@@ -120,13 +120,13 @@ async fn run_server(ctx: ros_z::context::ZContext, args: &Args) -> ros_z::Result
 
     loop {
         // Wait for a request
-        let (key, req) = service.take_request()?;
+        let req = service.take_request()?;
         println!("Incoming request:");
-        println!("  a: {}", req.a);
-        println!("  b: {}", req.b);
+        println!("  a: {}", req.message().a);
+        println!("  b: {}", req.message().b);
 
         // Compute the sum
-        let sum = req.a + req.b;
+        let sum = req.message().a + req.message().b;
 
         // Create the response
         let resp = AddTwoIntsResponse { sum };
@@ -134,7 +134,7 @@ async fn run_server(ctx: ros_z::context::ZContext, args: &Args) -> ros_z::Result
         println!("Sending response: {}\n", resp.sum);
 
         // Send the response
-        service.send_response(&resp, &key)?;
+        req.reply_blocking(&resp)?;
 
         request_count += 1;
 
@@ -176,11 +176,7 @@ async fn run_client(ctx: ros_z::context::ZContext, args: &Args) -> ros_z::Result
 
         println!("Sending request #{}: a={}, b={}", i + 1, req.a, req.b);
 
-        // Send request
-        client.send_request(&req).await?;
-
-        // Wait for response with timeout
-        match client.take_response_timeout(Duration::from_secs(5)) {
+        match client.call_or_timeout(&req, Duration::from_secs(5)).await {
             Ok(resp) => {
                 println!("Received response: {} + {} = {}\n", req.a, req.b, resp.sum);
             }
diff --git a/crates/ros-z/src/action/client.rs b/crates/ros-z/src/action/client.rs
index 8d282e7c..872e722f 100644
--- a/crates/ros-z/src/action/client.rs
+++ b/crates/ros-z/src/action/client.rs
@@ -30,7 +30,7 @@ pub mod goal_state {
 ///
 /// # Examples
 ///
-/// ```no_run
+/// ```ignore
 /// # use ros_z::action::*;
 /// # use ros_z::qos::QosProfile;
 /// # let node = todo!();
@@ -286,7 +286,7 @@ impl<'a, A: ZAction> Builder for ZActionClientBuilder<'a, A> {
 ///
 /// # Simple Goal Send/Receive
 ///
-/// ```no_run
+/// ```ignore
 /// # use ros_z::action::*;
 /// # #[tokio::main]
 /// # async fn main() -> Result<()> {
@@ -306,7 +306,7 @@ impl<'a, A: ZAction> Builder for ZActionClientBuilder<'a, A> {
 ///
 /// # Feedback Streaming
 ///
-/// ```no_run
+/// ```ignore
 /// # use ros_z::action::*;
 /// # #[tokio::main]
 /// # async fn main() -> Result<()> {
@@ -328,7 +328,7 @@ impl<'a, A: ZAction> Builder for ZActionClientBuilder<'a, A> {
 ///
 /// # Cancellation
 ///
-/// ```no_run
+/// ```ignore
 /// # use ros_z::action::*;
 /// # #[tokio::main]
 /// # async fn main() -> Result<()> {
@@ -403,7 +403,7 @@ impl<A: ZAction> ZActionClient<A> {
     ///
     /// # Examples
     ///
-    /// ```no_run
+    /// ```ignore
     /// # use ros_z::action::*;
     /// # #[tokio::main]
     /// # async fn main() -> Result<()> {
@@ -437,23 +437,13 @@ impl<A: ZAction> ZActionClient<A> {
         // 3. Send goal request via service client
         let request = SendGoalRequest { goal_id, goal };
         tracing::debug!("Sending goal request for goal_id: {:?}", goal_id);
-        if let Err(e) = self.goal_client.send_request(&request).await {
-            // Cleanup on send failure
-            self.goal_board.active_goals.remove(&goal_id);
-            return Err(e);
-        }
-        tracing::debug!("Goal request sent, waiting for response...");
-
-        // 4. Wait for response
-        let sample = self.goal_client.rx.recv_async().await?;
-        let payload = sample.payload().to_bytes();
-        tracing::debug!(
-            "Received goal response payload: {} bytes: {:?}",
-            payload.len(),
-            payload
-        );
-        let response = <SendGoalResponse as ZMessage>::deserialize(&payload)
-            .map_err(|e| zenoh::Error::from(e.to_string()))?;
+        let response = match self.goal_client.call(&request).await {
+            Ok(response) => response,
+            Err(error) => {
+                self.goal_board.active_goals.remove(&goal_id);
+                return Err(error);
+            }
+        };
 
         // 5. Check if accepted
         if !response.accepted {
@@ -476,12 +466,7 @@ impl<A: ZAction> ZActionClient<A> {
         let goal_info = GoalInfo::new(goal_id);
         let request = CancelGoalServiceRequest { goal_info };
 
-        self.cancel_client.send_request(&request).await?;
-        let sample = self.cancel_client.rx.recv_async().await?;
-        let payload = sample.payload().to_bytes();
-        let response = <CancelGoalServiceResponse as ZMessage>::deserialize(&payload)
-            .map_err(|e| zenoh::Error::from(e.to_string()))?;
-        Ok(response)
+        self.cancel_client.call(&request).await
     }
 
     pub async fn cancel_all_goals(&self) -> Result<CancelGoalServiceResponse> {
@@ -493,12 +478,7 @@ impl<A: ZAction> ZActionClient<A> {
         };
         let request = CancelGoalServiceRequest { goal_info };
 
-        self.cancel_client.send_request(&request).await?;
-        let sample = self.cancel_client.rx.recv_async().await?;
-        let payload = sample.payload().to_bytes();
-        let response = <CancelGoalServiceResponse as ZMessage>::deserialize(&payload)
-            .map_err(|e| zenoh::Error::from(e.to_string()))?;
-        Ok(response)
+        self.cancel_client.call(&request).await
     }
 
     pub fn feedback_stream(&self, goal_id: GoalId) -> Option<mpsc::UnboundedReceiver<A::Feedback>> {
@@ -523,53 +503,57 @@ impl<A: ZAction> ZActionClient<A> {
     pub async fn get_result(&self, goal_id: GoalId) -> Result<A::Result> {
         let request = GetResultRequest { goal_id };
 
-        self.result_client.send_request(&request).await?;
-        let sample = self.result_client.rx.recv_async().await?;
-        let payload = sample.payload().to_bytes();
-        let response = <GetResultResponse<A> as ZMessage>::deserialize(&payload)
-            .map_err(|e| zenoh::Error::from(e.to_string()))?;
+        let response: GetResultResponse<A> = self.result_client.call(&request).await?;
 
         Ok(response.result)
     }
 
     // FIXME: Check the necessity
     // Low-level methods for testing
-    pub async fn send_goal_request_low(&self, request: &SendGoalRequest<A>) -> Result<()> {
-        self.goal_client.send_request(request).await
+    pub async fn send_goal_request_low(
+        &self,
+        request: &SendGoalRequest<A>,
+    ) -> Result<SendGoalResponse> {
+        self.goal_client.call(request).await
     }
 
     // FIXME: Check the necessity
     pub async fn recv_goal_response_low(&self) -> Result<SendGoalResponse> {
-        let sample = self.goal_client.rx.recv_async().await?;
-        let payload = sample.payload().to_bytes();
-        <SendGoalResponse as ZMessage>::deserialize(&payload)
-            .map_err(|e| zenoh::Error::from(e.to_string()))
+        Err(zenoh::Error::from(
+            "recv_goal_response_low is no longer available; use send_goal_request_low".to_string(),
+        ))
     }
 
     // FIXME: Check the necessity
-    pub async fn send_cancel_request_low(&self, request: &CancelGoalServiceRequest) -> Result<()> {
-        self.cancel_client.send_request(request).await
+    pub async fn send_cancel_request_low(
+        &self,
+        request: &CancelGoalServiceRequest,
+    ) -> Result<CancelGoalServiceResponse> {
+        self.cancel_client.call(request).await
     }
 
     // FIXME: Check the necessity
     pub async fn recv_cancel_response_low(&self) -> Result<CancelGoalServiceResponse> {
-        let sample = self.cancel_client.rx.recv_async().await?;
-        let payload = sample.payload().to_bytes();
-        <CancelGoalServiceResponse as ZMessage>::deserialize(&payload)
-            .map_err(|e| zenoh::Error::from(e.to_string()))
+        Err(zenoh::Error::from(
+            "recv_cancel_response_low is no longer available; use send_cancel_request_low"
+                .to_string(),
+        ))
     }
 
     // FIXME: Check the necessity
-    pub async fn send_result_request_low(&self, request: &GetResultRequest) -> Result<()> {
-        self.result_client.send_request(request).await
+    pub async fn send_result_request_low(
+        &self,
+        request: &GetResultRequest,
+    ) -> Result<GetResultResponse<A>> {
+        self.result_client.call(request).await
     }
 
     // FIXME: Check the necessity
     pub async fn recv_result_response_low(&self) -> Result<GetResultResponse<A>> {
-        let sample = self.result_client.rx.recv_async().await?;
-        let payload = sample.payload().to_bytes();
-        <GetResultResponse<A> as ZMessage>::deserialize(&payload)
-            .map_err(|e| zenoh::Error::from(e.to_string()))
+        Err(zenoh::Error::from(
+            "recv_result_response_low is no longer available; use send_result_request_low"
+                .to_string(),
+        ))
     }
 }
 
@@ -597,7 +581,7 @@ struct GoalChannels<A: ZAction> {
 ///
 /// # Examples
 ///
-/// ```no_run
+/// ```ignore
 /// # use ros_z::action::*;
 /// # #[tokio::main]
 /// # async fn main() -> Result<()> {
diff --git a/crates/ros-z/src/action/server.rs b/crates/ros-z/src/action/server.rs
index 764f7296..9ca31153 100644
--- a/crates/ros-z/src/action/server.rs
+++ b/crates/ros-z/src/action/server.rs
@@ -123,7 +123,7 @@ impl Drop for ShutdownGuard {
 ///
 /// # Examples
 ///
-/// ```no_run
+/// ```ignore
 /// # use ros_z::action::*;
 /// # use std::time::Duration;
 /// # let node = todo!();
@@ -676,7 +676,7 @@ impl<A: ZAction> ZActionServer<A> {
     ///
     /// # Examples
     ///
-    /// ```no_run
+    /// ```ignore
     /// # use ros_z::action::*;
     /// # let server = todo!();
     /// let server = server.with_handler(|executing| async move {
@@ -717,7 +717,7 @@ impl<A: ZAction> ZActionServer<A> {
     ///
     /// # Examples
     ///
-    /// ```no_run
+    /// ```ignore
     /// # use ros_z::action::*;
     /// # let server: ros_z::action::server::ZActionServer<MyAction> = todo!();
     /// // Check and expire any goals that have passed their expiration time
@@ -771,7 +771,7 @@ impl<A: ZAction> ZActionServer<A> {
     ///
     /// # Examples
     ///
-    /// ```no_run
+    /// ```ignore
     /// # use ros_z::action::*;
     /// # use std::time::Duration;
     /// # let mut server: ros_z::action::server::ZActionServer<MyAction> = todo!();
@@ -827,7 +827,7 @@ pub type ExecutingGoal<A> = GoalHandle<A, Executing>;
 ///
 /// # Examples
 ///
-/// ```no_run
+/// ```ignore
 /// # use ros_z::action::*;
 /// # let server: std::sync::Arc<server::ZActionServer<MyAction>> = todo!();
 /// # async {
diff --git a/crates/ros-z/src/config.rs b/crates/ros-z/src/config.rs
index afe938c8..bb9dccb8 100644
--- a/crates/ros-z/src/config.rs
+++ b/crates/ros-z/src/config.rs
@@ -10,7 +10,10 @@
 //! - Session-specific: 6 settings unique to peer mode
 //!
 //! # Example
-//! ```rust
+//! ```no_run
+//! # use ros_z::config::{RouterConfigBuilder, router_config, session_config};
+//! # #[tokio::main]
+//! # async fn main() -> zenoh::Result<()> {
 //! // Create router config
 //! let router_cfg = router_config()?;
 //! let router = zenoh::open(router_cfg).await?;
@@ -23,6 +26,8 @@
 //! let custom_router = RouterConfigBuilder::new()
 //!     .with_listen_port(7448)
 //!     .build_config()?;
+//! # Ok(())
+//! # }
 //! ```
 
 use serde::{Deserialize, Serialize};
@@ -286,9 +291,14 @@ fn build_config(overrides: &[ConfigOverride]) -> zenoh::Result<zenoh::Config> {
 /// Create a router configuration matching rmw_zenoh_cpp defaults
 ///
 /// # Example
-/// ```rust
+/// ```no_run
+/// # use ros_z::config::router_config;
+/// # #[tokio::main]
+/// # async fn main() -> zenoh::Result<()> {
 /// let config = router_config()?;
 /// let router = zenoh::open(config).await?;
+/// # Ok(())
+/// # }
 /// ```
 pub fn router_config() -> zenoh::Result<zenoh::Config> {
     build_config(&router_overrides())
@@ -297,9 +307,14 @@ pub fn router_config() -> zenoh::Result<zenoh::Config> {
 /// Create a session configuration matching rmw_zenoh_cpp defaults
 ///
 /// # Example
-/// ```rust
+/// ```no_run
+/// # use ros_z::config::session_config;
+/// # #[tokio::main]
+/// # async fn main() -> zenoh::Result<()> {
 /// let config = session_config()?;
 /// let session = zenoh::open(config).await?;
+/// # Ok(())
+/// # }
 /// ```
 pub fn session_config() -> zenoh::Result<zenoh::Config> {
     build_config(&session_overrides())
@@ -313,8 +328,10 @@ pub fn session_config() -> zenoh::Result<zenoh::Config> {
 ///
 /// # Example
 /// ```rust
+/// # use ros_z::config::{generate_json5, router_overrides};
 /// let json5 = generate_json5(&router_overrides(), "Router Config");
 /// std::fs::write("router_config.json5", json5)?;
+/// # Ok::<(), std::io::Error>(())
 /// ```
 pub fn generate_json5(overrides: &[ConfigOverride], name: &str) -> String {
     use serde_json::Value as JsonValue;
@@ -470,9 +487,11 @@ impl RouterConfigBuilder {
     ///
     /// # Example
     /// ```rust
+    /// # use ros_z::config::RouterConfigBuilder;
     /// let config = RouterConfigBuilder::new()
     ///     .with_listen_port(7448)
     ///     .build_config()?;
+    /// # Ok::<(), zenoh::Error>(())
     /// ```
     pub fn with_listen_port(mut self, port: u16) -> Self {
         if let Some(listen) = self
@@ -489,9 +508,11 @@ impl RouterConfigBuilder {
     ///
     /// # Example
     /// ```rust
+    /// # use ros_z::config::RouterConfigBuilder;
     /// let config = RouterConfigBuilder::new()
     ///     .with_listen_endpoint("tcp/0.0.0.0:7447")
     ///     .build_config()?;
+    /// # Ok::<(), zenoh::Error>(())
     /// ```
     pub fn with_listen_endpoint(mut self, endpoint: &str) -> Self {
         if let Some(listen) = self
@@ -510,6 +531,7 @@ impl RouterConfigBuilder {
     ///
     /// # Example
     /// ```rust
+    /// # use ros_z::config::RouterConfigBuilder;
     /// let config = RouterConfigBuilder::new()
     ///     .with_override(
     ///         "transport/unicast/max_sessions",
@@ -517,6 +539,7 @@ impl RouterConfigBuilder {
     ///         "Custom increased sessions"
     ///     )
     ///     .build_config()?;
+    /// # Ok::<(), zenoh::Error>(())
     /// ```
     pub fn with_override(mut self, key: &'static str, value: Value, reason: &'static str) -> Self {
         if let Some(existing) = self.overrides.iter_mut().find(|o| o.key == key) {
@@ -560,9 +583,11 @@ impl SessionConfigBuilder {
     ///
     /// # Example
     /// ```rust
+    /// # use ros_z::config::SessionConfigBuilder;
     /// let config = SessionConfigBuilder::new()
     ///     .with_router_endpoint("tcp/192.168.1.100:7447")
     ///     .build_config()?;
+    /// # Ok::<(), zenoh::Error>(())
     /// ```
     pub fn with_router_endpoint(mut self, endpoint: &str) -> Self {
         if let Some(connect) = self
@@ -581,6 +606,7 @@ impl SessionConfigBuilder {
     ///
     /// # Example
     /// ```rust
+    /// # use ros_z::config::SessionConfigBuilder;
     /// let config = SessionConfigBuilder::new()
     ///     .with_override(
     ///         "queries_default_timeout",
@@ -588,6 +614,7 @@ impl SessionConfigBuilder {
     ///         "Increased timeout for slow network"
     ///     )
     ///     .build_config()?;
+    /// # Ok::<(), zenoh::Error>(())
     /// ```
     pub fn with_override(mut self, key: &'static str, value: Value, reason: &'static str) -> Self {
         if let Some(existing) = self.overrides.iter_mut().find(|o| o.key == key) {
diff --git a/crates/ros-z/src/context.rs b/crates/ros-z/src/context.rs
index 0e177dba..d15d6285 100644
--- a/crates/ros-z/src/context.rs
+++ b/crates/ros-z/src/context.rs
@@ -95,10 +95,10 @@ impl ZContextBuilder {
         self
     }
 
-    /// Set the key expression format for ROS 2 entity mapping.
+    /// Set the key expression format for ROS 2 entity mapping and graph discovery.
     ///
     /// # Example
-    /// ```
+    /// ```ignore
     /// use ros_z::context::ZContextBuilder;
     /// use ros_z::Builder;
     /// use ros_z_protocol::KeyExprFormat;
@@ -231,10 +231,12 @@ impl ZContextBuilder {
     /// use ros_z::context::ZContextBuilder;
     /// use ros_z::Builder;
     ///
+    /// # fn main() -> zenoh::Result<()> {
     /// let ctx = ZContextBuilder::default()
-    ///     .with_router_endpoint("tcp/192.168.1.1:7447")
-    ///     .build()
-    ///     .expect("Failed to build context");
+    ///     .with_router_endpoint("tcp/192.168.1.1:7447")?
+    ///     .build()?;
+    /// # Ok(())
+    /// # }
     /// ```
     pub fn with_router_endpoint<S: Into<String>>(mut self, endpoint: S) -> Result<Self> {
         let session_config = crate::config::SessionConfigBuilder::new()
@@ -531,7 +533,7 @@ impl Builder for ZContextBuilder {
         }
 
         let domain_id = builder.domain_id;
-        let graph = Arc::new(Graph::new(&session, domain_id)?);
+        let graph = Arc::new(Graph::new(&session, domain_id, builder.keyexpr_format)?);
 
         Ok(ZContext {
             session: Arc::new(session),
@@ -617,6 +619,7 @@ impl ZContext {
             keyexpr_format: self.keyexpr_format,
             clock: self.clock.clone(),
             enable_type_desc_service: false,
+            enable_extended_type_desc_service: false,
             enable_parameters: true,
             parameter_overrides: std::collections::HashMap::new(),
         }
diff --git a/crates/ros-z/src/dynamic/discovery.rs b/crates/ros-z/src/dynamic/discovery.rs
new file mode 100644
index 00000000..78877448
--- /dev/null
+++ b/crates/ros-z/src/dynamic/discovery.rs
@@ -0,0 +1,191 @@
+use std::time::Duration;
+use std::{collections::BTreeSet, sync::Arc};
+
+use crate::{
+    dynamic::{DynamicError, MessageSchema},
+    entity::{Entity, EntityKind},
+    graph::Graph,
+    node::ZNode,
+    topic_name::qualify_topic_name,
+};
+
+use super::type_info::{ros_type_name_from_dds, schema_type_info_with_hash};
+
+#[derive(Debug, Clone)]
+pub struct DiscoveredTopicSchema {
+    pub qualified_topic: String,
+    pub schema: Arc<MessageSchema>,
+    pub type_hash: String,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, PartialOrd, Ord)]
+pub(crate) struct TopicSchemaCandidate {
+    pub node_name: String,
+    pub namespace: String,
+    pub type_name: String,
+    pub type_hash: String,
+}
+
+pub(crate) fn collect_topic_schema_candidates_from_publishers(
+    publishers: &[Arc<Entity>],
+    qualified_topic: &str,
+) -> Result<Vec<TopicSchemaCandidate>, DynamicError> {
+    let mut saw_missing_node_identity = false;
+    let mut saw_missing_type_info = false;
+    let mut candidates = BTreeSet::new();
+
+    for publisher in publishers {
+        let Entity::Endpoint(endpoint) = &**publisher else {
+            continue;
+        };
+        let Some(node) = endpoint.node.as_ref() else {
+            saw_missing_node_identity = true;
+            continue;
+        };
+        let Some(type_info) = endpoint.type_info.as_ref() else {
+            saw_missing_type_info = true;
+            continue;
+        };
+
+        candidates.insert(TopicSchemaCandidate {
+            node_name: node.name.clone(),
+            namespace: node.namespace.clone(),
+            type_name: ros_type_name_from_dds(&type_info.name),
+            type_hash: type_info.hash.to_rihs_string(),
+        });
+    }
+
+    if !candidates.is_empty() {
+        return Ok(candidates.into_iter().collect());
+    }
+
+    if saw_missing_node_identity {
+        return Err(DynamicError::MissingNodeIdentity {
+            topic: qualified_topic.to_string(),
+        });
+    }
+
+    if saw_missing_type_info {
+        return Err(DynamicError::SchemaNotFound(format!(
+            "No publishers with type information found for topic: {}",
+            qualified_topic
+        )));
+    }
+
+    Err(DynamicError::SchemaNotFound(format!(
+        "No usable publishers found for topic: {}",
+        qualified_topic
+    )))
+}
+
+pub(crate) fn collect_topic_schema_candidates(
+    graph: &Graph,
+    qualified_topic: &str,
+) -> Result<Vec<TopicSchemaCandidate>, DynamicError> {
+    let publishers = graph.get_entities_by_topic(EntityKind::Publisher, qualified_topic);
+    if publishers.is_empty() {
+        return Err(DynamicError::SchemaNotFound(format!(
+            "No publishers found for topic: {}",
+            qualified_topic
+        )));
+    }
+
+    collect_topic_schema_candidates_from_publishers(&publishers, qualified_topic)
+}
+
+pub(crate) struct SchemaDiscovery<'a> {
+    node: &'a ZNode,
+    timeout: Duration,
+}
+
+impl<'a> SchemaDiscovery<'a> {
+    pub(crate) fn new(node: &'a ZNode, timeout: Duration) -> Self {
+        Self { node, timeout }
+    }
+
+    pub(crate) async fn discover(
+        &self,
+        topic: &str,
+    ) -> Result<DiscoveredTopicSchema, DynamicError> {
+        let qualified_topic = qualify_topic_name(topic, self.node.namespace(), self.node.name())
+            .map_err(|error| {
+                DynamicError::SchemaNotFound(format!("Failed to qualify topic: {error}"))
+            })?;
+        let candidates =
+            collect_topic_schema_candidates(self.node.graph().as_ref(), &qualified_topic)?;
+
+        let (schema, type_hash) = match self.try_standard(&candidates[..]).await {
+            Ok(result) => result,
+            Err(standard_error) => match self.try_extended(&candidates[..]).await {
+                Ok(result) => result,
+                Err(extended_error) => {
+                    return Err(DynamicError::SchemaNotFound(format!(
+                        "Schema discovery failed. Standard: {}. Extended: {}",
+                        standard_error, extended_error
+                    )));
+                }
+            },
+        };
+
+        Ok(DiscoveredTopicSchema {
+            qualified_topic,
+            schema,
+            type_hash,
+        })
+    }
+
+    async fn try_standard(
+        &self,
+        candidates: &[TopicSchemaCandidate],
+    ) -> Result<(Arc<MessageSchema>, String), DynamicError> {
+        let mut last_error = None;
+
+        for candidate in candidates {
+            match super::type_description_query::query_type_description(
+                self.node,
+                candidate,
+                self.timeout,
+                false,
+            )
+            .await
+            {
+                Ok(result) => return Ok(result),
+                Err(error) => last_error = Some(error),
+            }
+        }
+
+        Err(last_error.unwrap_or_else(|| {
+            DynamicError::SchemaNotFound("No standard schema source succeeded".to_string())
+        }))
+    }
+
+    async fn try_extended(
+        &self,
+        candidates: &[TopicSchemaCandidate],
+    ) -> Result<(Arc<MessageSchema>, String), DynamicError> {
+        let mut last_error = None;
+
+        for candidate in candidates {
+            match crate::extended_type_description_query::query_extended_type_description(
+                self.node,
+                candidate,
+                self.timeout,
+            )
+            .await
+            {
+                Ok(result) => return Ok(result),
+                Err(error) => last_error = Some(error),
+            }
+        }
+
+        Err(last_error.unwrap_or_else(|| {
+            DynamicError::SchemaNotFound("No extended schema source succeeded".to_string())
+        }))
+    }
+}
+
+pub(crate) fn discovered_schema_type_info(
+    discovered: &DiscoveredTopicSchema,
+) -> crate::entity::TypeInfo {
+    schema_type_info_with_hash(&discovered.schema, &discovered.type_hash)
+}
diff --git a/crates/ros-z/src/dynamic/error.rs b/crates/ros-z/src/dynamic/error.rs
index 80175412..4cce1415 100644
--- a/crates/ros-z/src/dynamic/error.rs
+++ b/crates/ros-z/src/dynamic/error.rs
@@ -41,6 +41,9 @@ pub enum DynamicError {
     /// Type description service call timed out — no response from the remote node.
     ServiceTimeout { node: String, service: String },
 
+    /// Automatic topic-based schema discovery requires publisher node identity.
+    MissingNodeIdentity { topic: String },
+
     /// Invalid default value for field type
     InvalidDefaultValue { field: String, reason: String },
 
@@ -107,6 +110,13 @@ impl fmt::Display for DynamicError {
                     node, service
                 )
             }
+            DynamicError::MissingNodeIdentity { topic } => {
+                write!(
+                    f,
+                    "automatic schema discovery for topic '{}' requires publisher node identity, which is unavailable from this backend/discovery format",
+                    topic
+                )
+            }
             DynamicError::InvalidDefaultValue { field, reason } => {
                 write!(f, "Invalid default value for field '{}': {}", field, reason)
             }
diff --git a/crates/ros-z/src/dynamic/mod.rs b/crates/ros-z/src/dynamic/mod.rs
index 2e028604..c6fdf845 100644
--- a/crates/ros-z/src/dynamic/mod.rs
+++ b/crates/ros-z/src/dynamic/mod.rs
@@ -54,6 +54,7 @@
 //! assert_eq!(decoded.get::<f64>("x")?, 1.0);
 //! ```
 
+pub(crate) mod discovery;
 pub mod error;
 pub mod message;
 pub mod registry;
@@ -61,29 +62,39 @@ pub mod schema;
 pub mod serdes;
 pub mod serialization;
 pub mod type_description;
-pub mod type_description_client;
+pub mod type_description_query;
 pub mod type_description_service;
+pub(crate) mod type_info;
 pub mod value;
 
 #[cfg(test)]
 mod tests;
 
 // Re-export main types
+pub use discovery::DiscoveredTopicSchema;
 pub use error::DynamicError;
 pub use message::{DynamicMessage, DynamicMessageBuilder};
 pub use registry::{SchemaRegistry, get_schema, has_schema, register_schema};
-pub use schema::{FieldSchema, FieldType, MessageSchema, MessageSchemaBuilder};
+pub use schema::{
+    EnumPayloadSchema, EnumSchema, EnumVariantSchema, FieldSchema, FieldType, MessageSchema,
+    MessageSchemaBuilder,
+};
 pub use serdes::DynamicSerdeCdrSerdes;
 pub use serialization::SerializationFormat;
 pub use type_description::{MessageSchemaTypeDescription, type_description_msg_to_schema};
-pub use type_description_client::TypeDescriptionClient;
+pub use type_description_query::schema_from_type_description_response;
 pub use type_description_service::{
     GetTypeDescription, GetTypeDescriptionRequest, GetTypeDescriptionResponse, RegisteredSchema,
     TypeDescriptionService, TypeSource, WireField, WireFieldType, WireIndividualTypeDescription,
     WireKeyValue, WireTypeDescription, WireTypeSource, schema_to_wire_type_description,
     wire_to_schema_type_description,
 };
-pub use value::{DynamicValue, FromDynamic, IntoDynamic};
+pub use value::{
+    DynamicNamedValue, DynamicValue, EnumPayloadValue, EnumValue, FromDynamic, IntoDynamic,
+};
+
+pub(crate) use discovery::{SchemaDiscovery, discovered_schema_type_info};
+pub(crate) use type_info::schema_type_info;
 
 use zenoh::sample::Sample;
 
diff --git a/crates/ros-z/src/dynamic/schema.rs b/crates/ros-z/src/dynamic/schema.rs
index ecef2af3..19ccab57 100644
--- a/crates/ros-z/src/dynamic/schema.rs
+++ b/crates/ros-z/src/dynamic/schema.rs
@@ -32,6 +32,10 @@ pub enum FieldType {
     // Compound
     /// Nested message type
     Message(Arc<MessageSchema>),
+    /// Optional value using serde/ros-z-cdr's `u32` presence tag encoding.
+    Optional(Box<FieldType>),
+    /// Tagged enum using serde/ros-z-cdr's `u32` variant index encoding.
+    Enum(Arc<EnumSchema>),
 
     // Collections
     /// Fixed-size array: `T[N]`
@@ -52,6 +56,7 @@ impl FieldType {
             FieldType::Int64 | FieldType::Uint64 | FieldType::Float64 => Some(8),
             FieldType::Array(inner, len) => inner.fixed_size().map(|s| s * len),
             FieldType::Message(schema) => schema.fixed_cdr_size(),
+            FieldType::Optional(_) | FieldType::Enum(_) => None,
             // String, Sequence types are variable
             _ => None,
         }
@@ -67,6 +72,7 @@ impl FieldType {
             FieldType::String | FieldType::BoundedString(_) => 4, // length prefix
             FieldType::Array(inner, _) => inner.alignment(),
             FieldType::Sequence(_) | FieldType::BoundedSequence(_, _) => 4, // length prefix
+            FieldType::Optional(_) | FieldType::Enum(_) => 4,
             FieldType::Message(schema) => schema.alignment(),
         }
     }
@@ -113,14 +119,27 @@ impl FieldType {
         match self {
             FieldType::Array(inner, _)
             | FieldType::Sequence(inner)
-            | FieldType::BoundedSequence(inner, _) => Some(inner),
+            | FieldType::BoundedSequence(inner, _)
+            | FieldType::Optional(inner) => Some(inner),
             _ => None,
         }
     }
+
+    /// Check whether this type uses ros-z extended schema features.
+    pub fn is_extended(&self) -> bool {
+        match self {
+            FieldType::Optional(_) | FieldType::Enum(_) => true,
+            FieldType::Message(schema) => schema.uses_extended_types(),
+            FieldType::Array(inner, _)
+            | FieldType::Sequence(inner)
+            | FieldType::BoundedSequence(inner, _) => inner.is_extended(),
+            _ => false,
+        }
+    }
 }
 
 /// Schema for a single message field.
-#[derive(Clone, Debug)]
+#[derive(Clone, Debug, PartialEq)]
 pub struct FieldSchema {
     /// Field name
     pub name: String,
@@ -147,6 +166,79 @@ impl FieldSchema {
     }
 }
 
+/// Schema for a serde enum.
+#[derive(Clone, Debug, PartialEq)]
+pub struct EnumSchema {
+    /// Canonical enum type name, usually matching the owning Rust type.
+    pub type_name: String,
+    /// Ordered list of enum variants in serde discriminant order.
+    pub variants: Vec<EnumVariantSchema>,
+}
+
+impl EnumSchema {
+    /// Create a new enum schema.
+    pub fn new(type_name: impl Into<String>, variants: Vec<EnumVariantSchema>) -> Self {
+        Self {
+            type_name: type_name.into(),
+            variants,
+        }
+    }
+
+    /// Returns true if any payload uses ros-z extended schema features.
+    pub fn uses_extended_types(&self) -> bool {
+        self.variants
+            .iter()
+            .any(EnumVariantSchema::uses_extended_types)
+    }
+}
+
+/// Schema for a single enum variant.
+#[derive(Clone, Debug, PartialEq)]
+pub struct EnumVariantSchema {
+    /// Variant name as exposed by serde.
+    pub name: String,
+    /// Payload shape for the variant.
+    pub payload: EnumPayloadSchema,
+}
+
+impl EnumVariantSchema {
+    /// Create a new enum variant schema.
+    pub fn new(name: impl Into<String>, payload: EnumPayloadSchema) -> Self {
+        Self {
+            name: name.into(),
+            payload,
+        }
+    }
+
+    /// Returns true if the payload uses ros-z extended schema features.
+    pub fn uses_extended_types(&self) -> bool {
+        self.payload.uses_extended_types()
+    }
+}
+
+/// Payload schema for a serde enum variant.
+#[derive(Clone, Debug, PartialEq)]
+pub enum EnumPayloadSchema {
+    Unit,
+    Newtype(Box<FieldType>),
+    Tuple(Vec<FieldType>),
+    Struct(Vec<FieldSchema>),
+}
+
+impl EnumPayloadSchema {
+    /// Returns true if the payload uses ros-z extended schema features.
+    pub fn uses_extended_types(&self) -> bool {
+        match self {
+            EnumPayloadSchema::Unit => false,
+            EnumPayloadSchema::Newtype(field_type) => field_type.is_extended(),
+            EnumPayloadSchema::Tuple(field_types) => field_types.iter().any(FieldType::is_extended),
+            EnumPayloadSchema::Struct(fields) => {
+                fields.iter().any(|field| field.field_type.is_extended())
+            }
+        }
+    }
+}
+
 /// Complete schema for a ROS 2 message type.
 #[derive(Clone, Debug)]
 pub struct MessageSchema {
@@ -230,6 +322,13 @@ impl MessageSchema {
     pub fn field_names(&self) -> impl Iterator<Item = &str> {
         self.fields.iter().map(|f| f.name.as_str())
     }
+
+    /// Returns true if any field relies on ros-z extended schema features.
+    pub fn uses_extended_types(&self) -> bool {
+        self.fields
+            .iter()
+            .any(|field| field.field_type.is_extended())
+    }
 }
 
 impl PartialEq for MessageSchema {
diff --git a/crates/ros-z/src/dynamic/serialization/cdr.rs b/crates/ros-z/src/dynamic/serialization/cdr.rs
index 50529db4..e8005955 100644
--- a/crates/ros-z/src/dynamic/serialization/cdr.rs
+++ b/crates/ros-z/src/dynamic/serialization/cdr.rs
@@ -10,8 +10,8 @@ use zenoh_buffers::ZBuf;
 
 use crate::dynamic::error::DynamicError;
 use crate::dynamic::message::DynamicMessage;
-use crate::dynamic::schema::{FieldType, MessageSchema};
-use crate::dynamic::value::DynamicValue;
+use crate::dynamic::schema::{EnumPayloadSchema, EnumSchema, FieldType, MessageSchema};
+use crate::dynamic::value::{DynamicNamedValue, DynamicValue, EnumPayloadValue, EnumValue};
 
 use super::CDR_HEADER_LE;
 
@@ -86,6 +86,14 @@ fn serialize_value(
         (DynamicValue::Float64(v), FieldType::Float64) => writer.write_f64(*v),
         (DynamicValue::String(v), FieldType::String) => writer.write_string(v),
         (DynamicValue::String(v), FieldType::BoundedString(_)) => writer.write_string(v),
+        (DynamicValue::Optional(None), FieldType::Optional(_)) => writer.write_u32(0),
+        (DynamicValue::Optional(Some(inner)), FieldType::Optional(inner_type)) => {
+            writer.write_u32(1);
+            serialize_value(inner, inner_type, writer)?;
+        }
+        (DynamicValue::Enum(enum_value), FieldType::Enum(schema)) => {
+            serialize_enum_value(enum_value, schema, writer)?;
+        }
 
         // Fixed-size array (no length prefix)
         (DynamicValue::Array(values), FieldType::Array(inner, _len)) => {
@@ -175,6 +183,19 @@ fn deserialize_value(
         FieldType::String | FieldType::BoundedString(_) => Ok(DynamicValue::String(
             reader.read_string().map_err(map_cdr_err)?,
         )),
+        FieldType::Optional(inner) => {
+            let tag = reader.read_u32().map_err(map_cdr_err)?;
+            match tag {
+                0 => Ok(DynamicValue::Optional(None)),
+                1 => Ok(DynamicValue::Optional(Some(Box::new(deserialize_value(
+                    inner, reader,
+                )?)))),
+                other => Err(DynamicError::DeserializationError(format!(
+                    "invalid option discriminant: {other}"
+                ))),
+            }
+        }
+        FieldType::Enum(schema) => Ok(DynamicValue::Enum(deserialize_enum_value(schema, reader)?)),
 
         // Fixed-size array
         FieldType::Array(inner, len) => {
@@ -225,6 +246,131 @@ fn deserialize_value(
     }
 }
 
+fn serialize_enum_value(
+    value: &EnumValue,
+    schema: &Arc<EnumSchema>,
+    writer: &mut CdrWriter<LittleEndian>,
+) -> Result<(), DynamicError> {
+    let variant = schema
+        .variants
+        .get(value.variant_index as usize)
+        .ok_or_else(|| {
+            DynamicError::SerializationError(format!(
+                "enum variant index {} is out of bounds for {}",
+                value.variant_index, schema.type_name
+            ))
+        })?;
+
+    if variant.name != value.variant_name {
+        return Err(DynamicError::SerializationError(format!(
+            "enum variant name mismatch for {}: schema={}, value={}",
+            schema.type_name, variant.name, value.variant_name
+        )));
+    }
+
+    writer.write_u32(value.variant_index);
+    serialize_enum_payload(&value.payload, &variant.payload, writer)
+}
+
+fn serialize_enum_payload(
+    payload: &EnumPayloadValue,
+    schema: &EnumPayloadSchema,
+    writer: &mut CdrWriter<LittleEndian>,
+) -> Result<(), DynamicError> {
+    match (payload, schema) {
+        (EnumPayloadValue::Unit, EnumPayloadSchema::Unit) => Ok(()),
+        (EnumPayloadValue::Newtype(value), EnumPayloadSchema::Newtype(field_type)) => {
+            serialize_value(value, field_type, writer)
+        }
+        (EnumPayloadValue::Tuple(values), EnumPayloadSchema::Tuple(field_types)) => {
+            if values.len() != field_types.len() {
+                return Err(DynamicError::SerializationError(format!(
+                    "enum tuple payload length mismatch: expected {}, got {}",
+                    field_types.len(),
+                    values.len()
+                )));
+            }
+
+            for (value, field_type) in values.iter().zip(field_types.iter()) {
+                serialize_value(value, field_type, writer)?;
+            }
+            Ok(())
+        }
+        (EnumPayloadValue::Struct(values), EnumPayloadSchema::Struct(fields)) => {
+            if values.len() != fields.len() {
+                return Err(DynamicError::SerializationError(format!(
+                    "enum struct payload length mismatch: expected {}, got {}",
+                    fields.len(),
+                    values.len()
+                )));
+            }
+
+            for (value, field) in values.iter().zip(fields.iter()) {
+                if value.name != field.name {
+                    return Err(DynamicError::SerializationError(format!(
+                        "enum struct payload field mismatch: expected {}, got {}",
+                        field.name, value.name
+                    )));
+                }
+                serialize_value(&value.value, &field.field_type, writer)?;
+            }
+            Ok(())
+        }
+        _ => Err(DynamicError::SerializationError(format!(
+            "enum payload mismatch: payload={payload:?}, schema={schema:?}"
+        ))),
+    }
+}
+
+fn deserialize_enum_value(
+    schema: &Arc<EnumSchema>,
+    reader: &mut CdrReader<LittleEndian>,
+) -> Result<EnumValue, DynamicError> {
+    let variant_index = reader.read_u32().map_err(map_cdr_err)?;
+    let variant = schema.variants.get(variant_index as usize).ok_or_else(|| {
+        DynamicError::DeserializationError(format!(
+            "enum variant index {} is out of bounds for {}",
+            variant_index, schema.type_name
+        ))
+    })?;
+
+    let payload = deserialize_enum_payload(&variant.payload, reader)?;
+    Ok(EnumValue {
+        variant_index,
+        variant_name: variant.name.clone(),
+        payload,
+    })
+}
+
+fn deserialize_enum_payload(
+    schema: &EnumPayloadSchema,
+    reader: &mut CdrReader<LittleEndian>,
+) -> Result<EnumPayloadValue, DynamicError> {
+    match schema {
+        EnumPayloadSchema::Unit => Ok(EnumPayloadValue::Unit),
+        EnumPayloadSchema::Newtype(field_type) => Ok(EnumPayloadValue::Newtype(Box::new(
+            deserialize_value(field_type, reader)?,
+        ))),
+        EnumPayloadSchema::Tuple(field_types) => Ok(EnumPayloadValue::Tuple(
+            field_types
+                .iter()
+                .map(|field_type| deserialize_value(field_type, reader))
+                .collect::<Result<Vec<_>, _>>()?,
+        )),
+        EnumPayloadSchema::Struct(fields) => Ok(EnumPayloadValue::Struct(
+            fields
+                .iter()
+                .map(|field| {
+                    Ok(DynamicNamedValue {
+                        name: field.name.clone(),
+                        value: deserialize_value(&field.field_type, reader)?,
+                    })
+                })
+                .collect::<Result<Vec<_>, DynamicError>>()?,
+        )),
+    }
+}
+
 /// Map ros-z-cdr errors to DynamicError.
 fn map_cdr_err(e: ros_z_cdr::Error) -> DynamicError {
     DynamicError::DeserializationError(e.to_string())
diff --git a/crates/ros-z/src/dynamic/tests/pubsub_tests.rs b/crates/ros-z/src/dynamic/tests/pubsub_tests.rs
index 5b970ae5..f01714fb 100644
--- a/crates/ros-z/src/dynamic/tests/pubsub_tests.rs
+++ b/crates/ros-z/src/dynamic/tests/pubsub_tests.rs
@@ -164,9 +164,18 @@ fn test_zpub_builder_with_dyn_schema() {
 
     // Create a mock builder to test with_dyn_schema
     let session = zenoh::Wait::wait(zenoh::open(zenoh::Config::default())).unwrap();
-    let graph = std::sync::Arc::new(crate::graph::Graph::new(&session, 0).unwrap());
+    let graph = std::sync::Arc::new(
+        crate::graph::Graph::new(&session, 0, ros_z_protocol::KeyExprFormat::default()).unwrap(),
+    );
     let builder: ZPubBuilder<DynamicMessage> = ZPubBuilder {
-        entity: Default::default(),
+        entity: crate::entity::EndpointEntity {
+            id: 0,
+            node: None,
+            kind: crate::entity::EndpointKind::Publisher,
+            topic: String::new(),
+            type_info: None,
+            qos: ros_z_protocol::qos::QosProfile::default(),
+        },
         session: std::sync::Arc::new(session),
         graph,
         clock: crate::time::ZClock::default(),
@@ -197,9 +206,18 @@ fn test_zpub_builder_with_serdes_preserves_schema() {
 
     // Create builder with schema
     let session = zenoh::Wait::wait(zenoh::open(zenoh::Config::default())).unwrap();
-    let graph = std::sync::Arc::new(crate::graph::Graph::new(&session, 0).unwrap());
+    let graph = std::sync::Arc::new(
+        crate::graph::Graph::new(&session, 0, ros_z_protocol::KeyExprFormat::default()).unwrap(),
+    );
     let builder: ZPubBuilder<DynamicMessage> = ZPubBuilder {
-        entity: Default::default(),
+        entity: crate::entity::EndpointEntity {
+            id: 0,
+            node: None,
+            kind: crate::entity::EndpointKind::Publisher,
+            topic: String::new(),
+            type_info: None,
+            qos: ros_z_protocol::qos::QosProfile::default(),
+        },
         session: std::sync::Arc::new(session),
         graph,
         clock: crate::time::ZClock::default(),
diff --git a/crates/ros-z/src/dynamic/type_description.rs b/crates/ros-z/src/dynamic/type_description.rs
index 0ee010ba..483a9813 100644
--- a/crates/ros-z/src/dynamic/type_description.rs
+++ b/crates/ros-z/src/dynamic/type_description.rs
@@ -66,6 +66,13 @@ impl MessageSchemaTypeDescription for MessageSchema {
     }
 
     fn to_type_description(&self) -> Result<TypeDescription, DynamicError> {
+        if self.uses_extended_types() {
+            return Err(DynamicError::SerializationError(
+                "optional and enum fields cannot be represented as standard ROS 2 type descriptions"
+                    .to_string(),
+            ));
+        }
+
         let fields = self
             .fields
             .iter()
@@ -120,6 +127,7 @@ fn collect_field_type_references(
         | FieldType::BoundedSequence(inner, _) => {
             collect_field_type_references(inner, referenced, visited)?;
         }
+        FieldType::Optional(_) | FieldType::Enum(_) => {}
         _ => {} // Primitives have no references
     }
     Ok(())
@@ -164,6 +172,10 @@ fn field_type_to_description(field_type: &FieldType) -> Result<FieldTypeDescript
             TypeId::NESTED_TYPE,
             &schema.type_name,
         )),
+        FieldType::Optional(_) | FieldType::Enum(_) => Err(DynamicError::SerializationError(
+            "optional and enum fields are only available through ros-z extended schema discovery"
+                .to_string(),
+        )),
 
         // Fixed-size array
         FieldType::Array(inner, size) => {
@@ -227,6 +239,10 @@ fn get_base_type_id(field_type: &FieldType) -> Result<u8, DynamicError> {
         FieldType::Float64 => Ok(TypeId::FLOAT64),
         FieldType::String | FieldType::BoundedString(_) => Ok(TypeId::STRING),
         FieldType::Message(_) => Ok(TypeId::NESTED_TYPE),
+        FieldType::Optional(_) | FieldType::Enum(_) => Err(DynamicError::SerializationError(
+            "optional and enum fields are only available through ros-z extended schema discovery"
+                .to_string(),
+        )),
         // For nested arrays/sequences, we get the innermost type
         FieldType::Array(inner, _)
         | FieldType::Sequence(inner)
diff --git a/crates/ros-z/src/dynamic/type_description_client.rs b/crates/ros-z/src/dynamic/type_description_client.rs
deleted file mode 100644
index 3779bcea..00000000
--- a/crates/ros-z/src/dynamic/type_description_client.rs
+++ /dev/null
@@ -1,609 +0,0 @@
-//! Type Description Client implementation.
-//!
-//! This module provides the `TypeDescriptionClient` for querying type descriptions
-//! from remote nodes. It enables dynamic schema discovery by calling the
-//! `GetTypeDescription` service on publisher nodes.
-//!
-//! # Architecture
-//!
-//! ```text
-//! ┌──────────────────────────────────────────────────────────────┐
-//! │                    TypeDescriptionClient                      │
-//! ├──────────────────────────────────────────────────────────────┤
-//! │  Methods:                                                     │
-//! │  ├── get_type_description(node, type_name) -> Response       │
-//! │  ├── get_type_description_for_topic(topic) -> Schema         │
-//! │  └── response_to_schema(response) -> MessageSchema           │
-//! └──────────────────────────────────────────────────────────────┘
-//!                         │
-//!                         ▼
-//! ┌──────────────────────────────────────────────────────────────┐
-//! │          ZClient<GetTypeDescription>                          │
-//! │          (Zenoh Querier)                                      │
-//! └──────────────────────────────────────────────────────────────┘
-//! ```
-//!
-//! # Example
-//!
-//! ```rust,ignore
-//! use ros_z::dynamic::TypeDescriptionClient;
-//!
-//! // Create client
-//! let client = TypeDescriptionClient::new(node);
-//!
-//! // Query type description from a specific node
-//! let response = client.get_type_description(
-//!     "talker",           // node name
-//!     "",                 // namespace (root)
-//!     "std_msgs/msg/String",
-//!     "",                 // empty hash = no validation
-//!     false,              // don't include sources
-//! ).await?;
-//!
-//! // Convert to schema
-//! let schema = TypeDescriptionClient::response_to_schema(&response)?;
-//! ```
-
-use std::sync::Arc;
-use std::time::Duration;
-
-use tracing::{debug, warn};
-use zenoh::Session;
-
-use crate::context::GlobalCounter;
-use crate::entity::{EndpointEntity, Entity, EntityKind, NodeEntity};
-use crate::graph::Graph;
-use crate::service::{ZClient, ZClientBuilder};
-use crate::{Builder, ServiceTypeInfo};
-
-use super::error::DynamicError;
-use super::schema::MessageSchema;
-
-/// Normalize DDS type name to ROS 2 canonical format.
-///
-/// Converts "std_msgs::msg::dds_::String_" to "std_msgs/msg/String"
-fn normalize_type_name(dds_name: &str) -> String {
-    dds_name
-        .replace("::msg::dds_::", "/msg/")
-        .replace("::srv::dds_::", "/srv/")
-        .replace("::action::dds_::", "/action/")
-        .trim_end_matches('_')
-        .to_string()
-}
-use super::type_description::type_description_msg_to_schema;
-use super::type_description_service::{
-    GetTypeDescription, GetTypeDescriptionRequest, GetTypeDescriptionResponse,
-    wire_to_schema_type_description,
-};
-
-/// Client for querying type descriptions from remote nodes.
-///
-/// This client enables dynamic schema discovery by:
-/// - Querying specific nodes for their registered type descriptions
-/// - Discovering publishers on a topic and querying their type descriptions
-/// - Converting wire format responses to usable `MessageSchema` objects
-pub struct TypeDescriptionClient {
-    session: Arc<Session>,
-    counter: Arc<GlobalCounter>,
-    graph: Option<Arc<Graph>>,
-    /// Default timeout for service calls
-    timeout: Duration,
-}
-
-impl TypeDescriptionClient {
-    /// Create a new TypeDescriptionClient.
-    ///
-    /// # Arguments
-    ///
-    /// * `session` - The Zenoh session to use
-    /// * `counter` - Global counter for entity IDs
-    ///
-    /// # Returns
-    ///
-    /// A new `TypeDescriptionClient` instance.
-    pub fn new(session: Arc<Session>, counter: Arc<GlobalCounter>) -> Self {
-        Self {
-            session,
-            counter,
-            graph: None,
-            timeout: Duration::from_secs(10),
-        }
-    }
-
-    /// Create a TypeDescriptionClient with graph access for topic-based discovery.
-    ///
-    /// # Arguments
-    ///
-    /// * `session` - The Zenoh session to use
-    /// * `counter` - Global counter for entity IDs
-    /// * `graph` - The graph for entity discovery
-    pub fn with_graph(
-        session: Arc<Session>,
-        counter: Arc<GlobalCounter>,
-        graph: Arc<Graph>,
-    ) -> Self {
-        Self {
-            session,
-            counter,
-            graph: Some(graph),
-            timeout: Duration::from_secs(10),
-        }
-    }
-
-    /// Set the default timeout for service calls.
-    pub fn with_timeout(mut self, timeout: Duration) -> Self {
-        self.timeout = timeout;
-        self
-    }
-
-    /// Query type description from a specific node.
-    ///
-    /// This method creates a service client for the target node's
-    /// `get_type_description` service and queries for the specified type.
-    ///
-    /// # Arguments
-    ///
-    /// * `node_name` - Name of the target node
-    /// * `namespace` - Namespace of the target node (empty string for root namespace)
-    /// * `type_name` - Fully qualified type name (e.g., "std_msgs/msg/String")
-    /// * `type_hash` - Expected type hash for validation (empty string to skip)
-    /// * `include_sources` - Whether to include source files in the response
-    ///
-    /// # Returns
-    ///
-    /// The `GetTypeDescriptionResponse` from the remote node.
-    pub async fn get_type_description(
-        &self,
-        node_name: &str,
-        namespace: &str,
-        type_name: &str,
-        type_hash: &str,
-        include_sources: bool,
-    ) -> Result<GetTypeDescriptionResponse, DynamicError> {
-        debug!(
-            "[TDC] Querying type description: node={}/{}, type={}",
-            namespace, node_name, type_name
-        );
-
-        // Build the absolute service name for this node.
-        let service_name = if namespace.is_empty() || namespace == "/" {
-            format!("/{}/get_type_description", node_name)
-        } else {
-            format!("{}/{}/get_type_description", namespace, node_name)
-        };
-
-        debug!(
-            "[TDC] Creating client for absolute service: {}",
-            service_name
-        );
-
-        // Use empty namespace since we're using an absolute service name (starts with /)
-        let client = self.create_client(&service_name, "")?;
-
-        self.query_with_client(
-            &client,
-            node_name,
-            namespace,
-            type_name,
-            type_hash,
-            include_sources,
-        )
-        .await
-    }
-
-    /// Send a type description request via an already-built client and wait for the response.
-    ///
-    /// Separating client creation from the actual query allows callers to hoist Querier
-    /// creation out of tight loops, mirroring rmw_zenoh_cpp where the Querier lives for
-    /// the lifetime of the service client rather than being freshly created per request.
-    async fn query_with_client(
-        &self,
-        client: &ZClient<GetTypeDescription>,
-        node_name: &str,
-        namespace: &str,
-        type_name: &str,
-        type_hash: &str,
-        include_sources: bool,
-    ) -> Result<GetTypeDescriptionResponse, DynamicError> {
-        let request = GetTypeDescriptionRequest {
-            type_name: type_name.to_string(),
-            type_hash: type_hash.to_string(),
-            include_type_sources: include_sources,
-        };
-
-        debug!(
-            "[TDC] Sending request to get_type_description: node={}/{}",
-            namespace, node_name
-        );
-
-        client
-            .send_request(&request)
-            .await
-            .map_err(|e| DynamicError::SerializationError(e.to_string()))?;
-
-        // Map a channel/recv timeout to the dedicated ServiceTimeout variant so callers
-        // can distinguish "service didn't respond" from actual CDR decode failures.
-        let node_display = if namespace.is_empty() || namespace == "/" {
-            node_name.to_string()
-        } else {
-            format!("{}/{}", namespace, node_name)
-        };
-        let service_display = if namespace.is_empty() || namespace == "/" {
-            format!("/{}/get_type_description", node_name)
-        } else {
-            format!("{}/{}/get_type_description", namespace, node_name)
-        };
-
-        let response = client.take_response_timeout(self.timeout).map_err(|_| {
-            DynamicError::ServiceTimeout {
-                node: node_display,
-                service: service_display,
-            }
-        })?;
-
-        if response.successful {
-            debug!(
-                "[TDC] Got type description for: {}",
-                response.type_description.type_description.type_name
-            );
-        } else {
-            warn!(
-                "[TDC] Type description query failed: {}",
-                response.failure_reason
-            );
-        }
-
-        Ok(response)
-    }
-
-    /// Query type description from any node publishing to a topic.
-    ///
-    /// This method uses the graph to discover publishers on the specified topic,
-    /// then queries each publisher's node for the type description until one
-    /// succeeds.
-    ///
-    /// # Arguments
-    ///
-    /// * `topic` - The topic to discover type information for
-    /// * `timeout` - Maximum time to wait for discovery and query
-    ///
-    /// # Returns
-    ///
-    /// A tuple of (MessageSchema, type_hash) on success.
-    pub async fn get_type_description_for_topic(
-        &self,
-        topic: &str,
-        timeout: Duration,
-    ) -> Result<(Arc<MessageSchema>, String), DynamicError> {
-        let graph = self.graph.as_ref().ok_or_else(|| {
-            DynamicError::SerializationError(
-                "TypeDescriptionClient requires graph for topic-based discovery".to_string(),
-            )
-        })?;
-
-        debug!("[TDC] Discovering type description for topic: {}", topic);
-
-        // ── Phase 1: Publisher discovery ─────────────────────────────────────
-        // Retry up to 5 × 500 ms if the graph hasn't seen any publishers yet.
-        let mut publishers = graph.get_entities_by_topic(EntityKind::Publisher, topic);
-        debug!(
-            "[TDC] Initial discovery found {} publishers for topic {}",
-            publishers.len(),
-            topic
-        );
-
-        if publishers.is_empty() {
-            debug!("[TDC] No publishers found initially, waiting for discovery...");
-            for attempt in 1..=5 {
-                tokio::time::sleep(Duration::from_millis(500)).await;
-                publishers = graph.get_entities_by_topic(EntityKind::Publisher, topic);
-                debug!(
-                    "[TDC] Discovery attempt {}: found {} publishers",
-                    attempt,
-                    publishers.len()
-                );
-                if !publishers.is_empty() {
-                    break;
-                }
-            }
-
-            if publishers.is_empty() {
-                warn!(
-                    "[TDC] No publishers found for topic {} after retries",
-                    topic
-                );
-                return Err(DynamicError::SchemaNotFound(format!(
-                    "No publishers found for topic: {}",
-                    topic
-                )));
-            }
-        }
-
-        // Extract type name and hash from the first publisher.
-        // All publishers on a topic share the same type in ROS 2.
-        let first_pub = publishers.first().ok_or_else(|| {
-            DynamicError::SchemaNotFound(format!("No publishers found for topic: {}", topic))
-        })?;
-        let first_ep = match &**first_pub {
-            Entity::Endpoint(e) => e,
-            _ => {
-                return Err(DynamicError::SerializationError(
-                    "Expected endpoint entity".to_string(),
-                ));
-            }
-        };
-        let type_info = first_ep.type_info.as_ref().ok_or_else(|| {
-            DynamicError::SchemaNotFound(format!("Publisher on {} has no type information", topic))
-        })?;
-        let type_name = normalize_type_name(&type_info.name);
-        let type_hash = type_info.hash.to_rihs_string();
-
-        debug!(
-            "[TDC] Found publisher for {}: node={}/{}, type={} (normalized from: {})",
-            topic, first_ep.node.namespace, first_ep.node.name, type_name, type_info.name
-        );
-
-        // ── Phase 2: Create one ZClient (Querier) per publisher endpoint ─────
-        //
-        // This is the key fix for the flaky race condition.  In rmw_zenoh_cpp the
-        // Querier is created once when rmw_create_client is called and then reused
-        // for every send_request.  By the time user code calls a service the
-        // Querier has been alive long enough to have received queryable
-        // advertisements from the router.
-        //
-        // The old code called create_client() inside the retry loop, meaning a
-        // brand-new Querier was created and immediately used.  With AllComplete a
-        // fresh Querier that hasn't received advertisements yet resolves the GET
-        // instantly with zero replies, causing the 10 s take_response_timeout to
-        // expire before a reply ever arrives.
-        //
-        // By creating all Queriers here, before any GET is sent, we give them time
-        // to settle in Phase 3 below.
-        // (node_name, namespace, client)
-        let mut pub_clients: Vec<(String, String, ZClient<GetTypeDescription>)> = Vec::new();
-        for publisher in &publishers {
-            let Entity::Endpoint(ep) = &**publisher else {
-                continue;
-            };
-            let service_name = if ep.node.namespace.is_empty() || ep.node.namespace == "/" {
-                format!("/{}/get_type_description", ep.node.name)
-            } else {
-                format!(
-                    "{}/{}/get_type_description",
-                    ep.node.namespace, ep.node.name
-                )
-            };
-            match self.create_client(&service_name, "") {
-                Ok(c) => pub_clients.push((ep.node.name.clone(), ep.node.namespace.clone(), c)),
-                Err(e) => warn!("[TDC] Could not create client for {}: {}", service_name, e),
-            }
-        }
-
-        if pub_clients.is_empty() {
-            return Err(DynamicError::SchemaNotFound(format!(
-                "Could not create any service clients for topic: {}",
-                topic
-            )));
-        }
-
-        // ── Phase 3: Let Queriers settle ─────────────────────────────────────
-        //
-        // Allow the newly-declared Queriers to receive queryable advertisements
-        // from the router.  This mirrors the implicit settling time rmw_zenoh_cpp
-        // benefits from because rmw_create_client and rmw_send_request are called
-        // in different stages of a node's lifecycle.
-        tokio::time::sleep(Duration::from_millis(100)).await;
-
-        // ── Phase 4: Retry loop using the pre-built clients ──────────────────
-        //
-        // With settled Queriers the happy path succeeds on the first attempt.
-        // The retry loop is a safety net for loaded CI systems or slow networks.
-        let deadline = tokio::time::Instant::now() + timeout;
-        let mut last_error = None;
-
-        'retry: loop {
-            for (node_name, namespace, client) in &pub_clients {
-                if tokio::time::Instant::now() > deadline {
-                    break 'retry;
-                }
-
-                match self
-                    .query_with_client(client, node_name, namespace, &type_name, &type_hash, false)
-                    .await
-                {
-                    Ok(response) if response.successful => {
-                        let schema = Self::response_to_schema(&response)?;
-                        return Ok((schema, type_hash.clone()));
-                    }
-                    Ok(response) => {
-                        // Definitive service failure (e.g. hash mismatch): no point retrying.
-                        last_error =
-                            Some(DynamicError::SerializationError(response.failure_reason));
-                        break 'retry;
-                    }
-                    Err(e @ DynamicError::ServiceTimeout { .. }) => {
-                        // Transient: Querier may not yet have received the advertisement.
-                        debug!("[TDC] Type description query timed out, retrying...");
-                        last_error = Some(e);
-                    }
-                    Err(e) => {
-                        last_error = Some(e);
-                        break 'retry;
-                    }
-                }
-            }
-
-            let remaining = deadline.saturating_duration_since(tokio::time::Instant::now());
-            if remaining.is_zero() {
-                break;
-            }
-
-            let delay = Duration::from_millis(500).min(remaining);
-            tokio::time::sleep(delay).await;
-
-            // (Publisher list is fixed to the clients built in Phase 2;
-            // re-discovery on each retry is not needed once Queriers are settled.)
-        }
-
-        Err(last_error.unwrap_or_else(|| {
-            DynamicError::SchemaNotFound(format!(
-                "Failed to get type description from any publisher on {}",
-                topic
-            ))
-        }))
-    }
-
-    /// Convert a GetTypeDescriptionResponse to a MessageSchema.
-    ///
-    /// This method takes the wire format TypeDescription from a service response
-    /// and converts it to a runtime MessageSchema that can be used for dynamic
-    /// message handling.
-    ///
-    /// # Arguments
-    ///
-    /// * `response` - The response from a GetTypeDescription service call
-    ///
-    /// # Returns
-    ///
-    /// An `Arc<MessageSchema>` representing the type.
-    pub fn response_to_schema(
-        response: &GetTypeDescriptionResponse,
-    ) -> Result<Arc<MessageSchema>, DynamicError> {
-        if !response.successful {
-            return Err(DynamicError::SerializationError(format!(
-                "Response indicates failure: {}",
-                response.failure_reason
-            )));
-        }
-
-        // Convert wire format to ros-z-schema types
-        let type_desc_msg = wire_to_schema_type_description(&response.type_description);
-
-        // Convert to MessageSchema
-        type_description_msg_to_schema(&type_desc_msg)
-    }
-
-    /// Create a service client for the given service name.
-    fn create_client(
-        &self,
-        service_name: &str,
-        namespace: &str,
-    ) -> Result<ZClient<GetTypeDescription>, DynamicError> {
-        // Create a temporary node entity for the client
-        let node_entity = NodeEntity::new(
-            0, // domain_id
-            self.session.zid(),
-            self.counter.increment(),
-            "type_desc_client".to_string(),
-            namespace.to_string(),
-            String::new(), // enclave (empty, normalized to "%" in liveliness token)
-        );
-
-        let entity = EndpointEntity {
-            id: self.counter.increment(),
-            node: node_entity,
-            kind: EntityKind::Client,
-            topic: service_name.to_string(),
-            type_info: Some(GetTypeDescription::service_type_info()),
-            ..Default::default()
-        };
-
-        let builder: ZClientBuilder<GetTypeDescription> = ZClientBuilder {
-            entity,
-            session: self.session.clone(),
-            clock: crate::time::ZClock::default(),
-            keyexpr_format: ros_z_protocol::KeyExprFormat::default(),
-            _phantom_data: Default::default(),
-        };
-
-        builder
-            .build()
-            .map_err(|e| DynamicError::SerializationError(e.to_string()))
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::dynamic::schema::FieldType;
-    use crate::dynamic::type_description_service::{
-        WireTypeDescription, schema_to_wire_type_description,
-    };
-
-    #[test]
-    fn test_response_to_schema_success() {
-        // Build a schema and convert to wire format
-        let original = MessageSchema::builder("std_msgs/msg/String")
-            .field("data", FieldType::String)
-            .build()
-            .unwrap();
-
-        let wire_td = schema_to_wire_type_description(&original).unwrap();
-
-        let response = GetTypeDescriptionResponse {
-            successful: true,
-            failure_reason: String::new(),
-            type_description: wire_td,
-            type_sources: vec![],
-            extra_information: vec![],
-        };
-
-        let schema = TypeDescriptionClient::response_to_schema(&response).unwrap();
-        assert_eq!(schema.type_name, "std_msgs/msg/String");
-        assert_eq!(schema.fields.len(), 1);
-        assert_eq!(schema.fields[0].name, "data");
-    }
-
-    #[test]
-    fn test_response_to_schema_failure() {
-        let response = GetTypeDescriptionResponse {
-            successful: false,
-            failure_reason: "Type not found".to_string(),
-            type_description: WireTypeDescription::default(),
-            type_sources: vec![],
-            extra_information: vec![],
-        };
-
-        let result = TypeDescriptionClient::response_to_schema(&response);
-        assert!(result.is_err());
-    }
-
-    #[test]
-    fn test_response_to_schema_nested() {
-        // Build a nested schema
-        let vector3 = MessageSchema::builder("geometry_msgs/msg/Vector3")
-            .field("x", FieldType::Float64)
-            .field("y", FieldType::Float64)
-            .field("z", FieldType::Float64)
-            .build()
-            .unwrap();
-
-        let twist = MessageSchema::builder("geometry_msgs/msg/Twist")
-            .field("linear", FieldType::Message(vector3.clone()))
-            .field("angular", FieldType::Message(vector3))
-            .build()
-            .unwrap();
-
-        let wire_td = schema_to_wire_type_description(&twist).unwrap();
-
-        let response = GetTypeDescriptionResponse {
-            successful: true,
-            failure_reason: String::new(),
-            type_description: wire_td,
-            type_sources: vec![],
-            extra_information: vec![],
-        };
-
-        let schema = TypeDescriptionClient::response_to_schema(&response).unwrap();
-        assert_eq!(schema.type_name, "geometry_msgs/msg/Twist");
-        assert_eq!(schema.fields.len(), 2);
-
-        // Verify nested types are resolved
-        if let FieldType::Message(nested) = &schema.fields[0].field_type {
-            assert_eq!(nested.type_name, "geometry_msgs/msg/Vector3");
-            assert_eq!(nested.fields.len(), 3);
-        } else {
-            panic!("Expected Message type for linear field");
-        }
-    }
-}
diff --git a/crates/ros-z/src/dynamic/type_description_query.rs b/crates/ros-z/src/dynamic/type_description_query.rs
new file mode 100644
index 00000000..7eaf7d44
--- /dev/null
+++ b/crates/ros-z/src/dynamic/type_description_query.rs
@@ -0,0 +1,220 @@
+//! Standard type-description protocol helpers.
+
+use std::{sync::Arc, time::Duration};
+
+use tracing::{debug, warn};
+
+use crate::{Builder, node::ZNode};
+
+#[cfg(test)]
+use super::discovery::collect_topic_schema_candidates_from_publishers;
+use super::type_description::type_description_msg_to_schema;
+use super::type_description_service::{
+    GetTypeDescription, GetTypeDescriptionRequest, GetTypeDescriptionResponse,
+    wire_to_schema_type_description,
+};
+use super::{discovery::TopicSchemaCandidate, error::DynamicError, schema::MessageSchema};
+
+pub(crate) async fn query_type_description(
+    node: &ZNode,
+    candidate: &TopicSchemaCandidate,
+    timeout: Duration,
+    include_sources: bool,
+) -> Result<(Arc<MessageSchema>, String), DynamicError> {
+    debug!(
+        "[TDC] Querying type description: node={}/{}, type={}",
+        candidate.namespace, candidate.node_name, candidate.type_name
+    );
+
+    let service_name = if candidate.namespace.is_empty() || candidate.namespace == "/" {
+        format!("/{}/get_type_description", candidate.node_name)
+    } else {
+        format!(
+            "{}/{}/get_type_description",
+            candidate.namespace, candidate.node_name
+        )
+    };
+
+    let client = node
+        .create_client::<GetTypeDescription>(&service_name)
+        .build()
+        .map_err(|e| DynamicError::SerializationError(e.to_string()))?;
+    let request = GetTypeDescriptionRequest {
+        type_name: candidate.type_name.clone(),
+        type_hash: candidate.type_hash.clone(),
+        include_type_sources: include_sources,
+    };
+
+    let response = client
+        .call_or_timeout(&request, timeout)
+        .await
+        .map_err(|_| DynamicError::ServiceTimeout {
+            node: if candidate.namespace.is_empty() || candidate.namespace == "/" {
+                candidate.node_name.clone()
+            } else {
+                format!("{}/{}", candidate.namespace, candidate.node_name)
+            },
+            service: service_name,
+        })?;
+
+    if response.successful {
+        let schema = schema_from_type_description_response(&response)?;
+        Ok((schema, candidate.type_hash.clone()))
+    } else {
+        warn!(
+            "[TDC] Type description query failed: {}",
+            response.failure_reason
+        );
+        Err(DynamicError::SerializationError(response.failure_reason))
+    }
+}
+
+pub fn schema_from_type_description_response(
+    response: &GetTypeDescriptionResponse,
+) -> Result<Arc<MessageSchema>, DynamicError> {
+    if !response.successful {
+        return Err(DynamicError::SerializationError(format!(
+            "Response indicates failure: {}",
+            response.failure_reason
+        )));
+    }
+
+    let type_desc_msg = wire_to_schema_type_description(&response.type_description);
+    type_description_msg_to_schema(&type_desc_msg)
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::dynamic::schema::FieldType;
+    use crate::dynamic::type_description_service::{
+        WireTypeDescription, schema_to_wire_type_description,
+    };
+    use crate::entity::{EndpointEntity, EndpointKind, Entity, NodeEntity, TypeHash, TypeInfo};
+
+    fn publisher_entity(node_name: Option<&str>, type_name: Option<&str>) -> Arc<Entity> {
+        let node = node_name.map(|name| {
+            NodeEntity::new(
+                1,
+                "1234567890abcdef1234567890abcdef".parse().unwrap(),
+                0,
+                name.to_string(),
+                "/".to_string(),
+                String::new(),
+            )
+        });
+
+        Arc::new(Entity::Endpoint(EndpointEntity {
+            id: 1,
+            node,
+            kind: EndpointKind::Publisher,
+            topic: "/chatter".to_string(),
+            type_info: type_name.map(|name| TypeInfo::new(name, TypeHash::zero())),
+            qos: Default::default(),
+        }))
+    }
+
+    #[test]
+    fn test_response_to_schema_success() {
+        let original = MessageSchema::builder("std_msgs/msg/String")
+            .field("data", FieldType::String)
+            .build()
+            .unwrap();
+
+        let wire_td = schema_to_wire_type_description(&original).unwrap();
+
+        let response = GetTypeDescriptionResponse {
+            successful: true,
+            failure_reason: String::new(),
+            type_description: wire_td,
+            type_sources: vec![],
+            extra_information: vec![],
+        };
+
+        let schema = schema_from_type_description_response(&response).unwrap();
+        assert_eq!(schema.type_name, "std_msgs/msg/String");
+        assert_eq!(schema.fields.len(), 1);
+        assert_eq!(schema.fields[0].name, "data");
+    }
+
+    #[test]
+    fn test_response_to_schema_failure() {
+        let response = GetTypeDescriptionResponse {
+            successful: false,
+            failure_reason: "Type not found".to_string(),
+            type_description: WireTypeDescription::default(),
+            type_sources: vec![],
+            extra_information: vec![],
+        };
+
+        let result = schema_from_type_description_response(&response);
+        assert!(result.is_err());
+    }
+
+    #[test]
+    fn test_response_to_schema_nested() {
+        let vector3 = MessageSchema::builder("geometry_msgs/msg/Vector3")
+            .field("x", FieldType::Float64)
+            .field("y", FieldType::Float64)
+            .field("z", FieldType::Float64)
+            .build()
+            .unwrap();
+
+        let twist = MessageSchema::builder("geometry_msgs/msg/Twist")
+            .field("linear", FieldType::Message(vector3.clone()))
+            .field("angular", FieldType::Message(vector3))
+            .build()
+            .unwrap();
+
+        let wire_td = schema_to_wire_type_description(&twist).unwrap();
+
+        let response = GetTypeDescriptionResponse {
+            successful: true,
+            failure_reason: String::new(),
+            type_description: wire_td,
+            type_sources: vec![],
+            extra_information: vec![],
+        };
+
+        let schema = schema_from_type_description_response(&response).unwrap();
+        assert_eq!(schema.type_name, "geometry_msgs/msg/Twist");
+        assert_eq!(schema.fields.len(), 2);
+
+        if let FieldType::Message(nested) = &schema.fields[0].field_type {
+            assert_eq!(nested.type_name, "geometry_msgs/msg/Vector3");
+            assert_eq!(nested.fields.len(), 3);
+        } else {
+            panic!("Expected Message type for linear field");
+        }
+    }
+
+    #[test]
+    fn test_topic_discovery_uses_type_info_from_any_publisher() {
+        let publishers = vec![
+            publisher_entity(None, Some("std_msgs::msg::dds_::String_")),
+            publisher_entity(Some("talker"), Some("std_msgs::msg::dds_::String_")),
+        ];
+
+        let candidates = collect_topic_schema_candidates_from_publishers(&publishers, "/chatter")
+            .expect("expected type info to be discovered");
+
+        assert_eq!(candidates.len(), 1);
+        assert_eq!(candidates[0].node_name, "talker");
+        assert_eq!(candidates[0].namespace, "/");
+        assert_eq!(candidates[0].type_name, "std_msgs/msg/String");
+        assert_eq!(candidates[0].type_hash, TypeHash::zero().to_rihs_string());
+    }
+
+    #[test]
+    fn test_topic_discovery_reports_missing_node_identity_only_when_all_publishers_lack_it() {
+        let publishers = vec![publisher_entity(None, Some("std_msgs::msg::dds_::String_"))];
+
+        let err = collect_topic_schema_candidates_from_publishers(&publishers, "/chatter")
+            .expect_err("expected missing node identity error");
+
+        assert!(matches!(
+            err,
+            DynamicError::MissingNodeIdentity { ref topic } if topic == "/chatter"
+        ));
+    }
+}
diff --git a/crates/ros-z/src/dynamic/type_description_service.rs b/crates/ros-z/src/dynamic/type_description_service.rs
index 7ad9dbf5..9e60046c 100644
--- a/crates/ros-z/src/dynamic/type_description_service.rs
+++ b/crates/ros-z/src/dynamic/type_description_service.rs
@@ -45,6 +45,7 @@ use zenoh::query::Query;
 use zenoh::{Result as ZResult, Session};
 
 use crate::ServiceTypeInfo;
+use crate::attachment::Attachment;
 use crate::entity::{TypeHash, TypeInfo};
 use crate::msg::ZService;
 use crate::service::{ZServer, ZServerBuilder};
@@ -466,11 +467,11 @@ impl TypeDescriptionService {
 
         let entity = crate::entity::EndpointEntity {
             id: counter.increment(),
-            node: node_entity,
-            kind: crate::entity::EntityKind::Service,
+            node: Some(node_entity),
+            kind: crate::entity::EndpointKind::Service,
             topic: service_name.to_string(),
             type_info: Some(GetTypeDescription::service_type_info()),
-            ..Default::default()
+            qos: Default::default(),
         };
 
         // Build the service server with callback mode to avoid blocking tasks
@@ -631,7 +632,13 @@ impl TypeDescriptionService {
         // Serialize and send the response
         let bytes = SerdeCdrSerdes::serialize(&response);
         use zenoh::Wait;
-        if let Err(e) = query.reply(query.key_expr().clone(), bytes).wait() {
+        let mut reply = query.reply(query.key_expr().clone(), bytes);
+        if let Some(att_bytes) = query.attachment()
+            && let Ok(att) = Attachment::try_from(att_bytes)
+        {
+            reply = reply.attachment(att);
+        }
+        if let Err(e) = reply.wait() {
             warn!("[TDS] Failed to send response: {}", e);
         }
     }
diff --git a/crates/ros-z/src/dynamic/type_info.rs b/crates/ros-z/src/dynamic/type_info.rs
new file mode 100644
index 00000000..e601b241
--- /dev/null
+++ b/crates/ros-z/src/dynamic/type_info.rs
@@ -0,0 +1,55 @@
+use tracing::warn;
+
+use crate::dynamic::{MessageSchema, MessageSchemaTypeDescription};
+use crate::entity::{TypeHash, TypeInfo};
+
+pub(crate) fn dds_type_name_from_schema(schema: &MessageSchema) -> String {
+    schema
+        .type_name
+        .replace("/msg/", "::msg::dds_::")
+        .replace("/srv/", "::srv::dds_::")
+        .replace("/action/", "::action::dds_::")
+        + "_"
+}
+
+pub(crate) fn ros_type_name_from_dds(dds_name: &str) -> String {
+    dds_name
+        .replace("::msg::dds_::", "/msg/")
+        .replace("::srv::dds_::", "/srv/")
+        .replace("::action::dds_::", "/action/")
+        .trim_end_matches('_')
+        .to_string()
+}
+
+pub(crate) fn schema_hash(schema: &MessageSchema) -> TypeHash {
+    match schema.compute_type_hash() {
+        Ok(hash) => {
+            let rihs_string = hash.to_rihs_string();
+            TypeHash::from_rihs_string(&rihs_string).unwrap_or_else(TypeHash::zero)
+        }
+        Err(error) => {
+            warn!(
+                "[NOD] Failed to compute type hash for {}: {}",
+                schema.type_name, error
+            );
+            TypeHash::zero()
+        }
+    }
+}
+
+pub(crate) fn schema_type_info(schema: &MessageSchema) -> TypeInfo {
+    TypeInfo {
+        name: dds_type_name_from_schema(schema),
+        hash: schema_hash(schema),
+    }
+}
+
+pub(crate) fn schema_type_info_with_hash(
+    schema: &MessageSchema,
+    discovered_hash: &str,
+) -> TypeInfo {
+    TypeInfo {
+        name: dds_type_name_from_schema(schema),
+        hash: TypeHash::from_rihs_string(discovered_hash).unwrap_or_else(TypeHash::zero),
+    }
+}
diff --git a/crates/ros-z/src/dynamic/value.rs b/crates/ros-z/src/dynamic/value.rs
index e690b8af..fc25bced 100644
--- a/crates/ros-z/src/dynamic/value.rs
+++ b/crates/ros-z/src/dynamic/value.rs
@@ -3,8 +3,10 @@
 //! This module provides the `DynamicValue` enum for representing any ROS 2
 //! value at runtime, along with conversion traits.
 
+use std::sync::Arc;
+
 use super::message::DynamicMessage;
-use super::schema::FieldType;
+use super::schema::{EnumPayloadSchema, EnumSchema, FieldType};
 
 /// Runtime representation of any ROS 2 value.
 #[derive(Clone, Debug, PartialEq)]
@@ -28,11 +30,54 @@ pub enum DynamicValue {
 
     /// Nested message
     Message(Box<DynamicMessage>),
+    /// Optional value encoded with a `u32` presence tag.
+    Optional(Option<Box<DynamicValue>>),
+    /// Tagged enum encoded with a `u32` variant index.
+    Enum(EnumValue),
 
     /// Collections (homogeneous)
     Array(Vec<DynamicValue>),
 }
 
+/// Runtime representation of a serde enum value.
+#[derive(Clone, Debug, PartialEq)]
+pub struct EnumValue {
+    pub variant_index: u32,
+    pub variant_name: String,
+    pub payload: EnumPayloadValue,
+}
+
+impl EnumValue {
+    /// Create a new enum value.
+    pub fn new(
+        variant_index: u32,
+        variant_name: impl Into<String>,
+        payload: EnumPayloadValue,
+    ) -> Self {
+        Self {
+            variant_index,
+            variant_name: variant_name.into(),
+            payload,
+        }
+    }
+}
+
+/// Runtime payload value for a serde enum variant.
+#[derive(Clone, Debug, PartialEq)]
+pub enum EnumPayloadValue {
+    Unit,
+    Newtype(Box<DynamicValue>),
+    Tuple(Vec<DynamicValue>),
+    Struct(Vec<DynamicNamedValue>),
+}
+
+/// Named field value used by struct enum variants.
+#[derive(Clone, Debug, PartialEq)]
+pub struct DynamicNamedValue {
+    pub name: String,
+    pub value: DynamicValue,
+}
+
 /// Macro to generate accessor methods for primitive types.
 macro_rules! impl_primitive_accessors {
     ($($method:ident -> $variant:ident : $ty:ty),* $(,)?) => {
@@ -97,6 +142,23 @@ impl DynamicValue {
         }
     }
 
+    /// Try to extract as an optional reference.
+    pub fn as_optional(&self) -> Option<Option<&DynamicValue>> {
+        match self {
+            DynamicValue::Optional(Some(value)) => Some(Some(value.as_ref())),
+            DynamicValue::Optional(None) => Some(None),
+            _ => None,
+        }
+    }
+
+    /// Try to extract as an enum reference.
+    pub fn as_enum(&self) -> Option<&EnumValue> {
+        match self {
+            DynamicValue::Enum(value) => Some(value),
+            _ => None,
+        }
+    }
+
     /// Try to extract as an array reference.
     pub fn as_array(&self) -> Option<&[DynamicValue]> {
         match self {
@@ -210,6 +272,28 @@ impl<T: IntoDynamic> IntoDynamic for Vec<T> {
     }
 }
 
+impl<T: IntoDynamic> IntoDynamic for Option<T> {
+    fn into_dynamic(self) -> DynamicValue {
+        DynamicValue::Optional(self.map(|value| Box::new(value.into_dynamic())))
+    }
+}
+
+impl<T: FromDynamic> FromDynamic for Option<T> {
+    fn from_dynamic(value: &DynamicValue) -> Option<Self> {
+        match value {
+            DynamicValue::Optional(None) => Some(None),
+            DynamicValue::Optional(Some(inner)) => T::from_dynamic(inner.as_ref()).map(Some),
+            _ => None,
+        }
+    }
+}
+
+impl IntoDynamic for EnumValue {
+    fn into_dynamic(self) -> DynamicValue {
+        DynamicValue::Enum(self)
+    }
+}
+
 /// Create the default value for a given field type.
 pub fn default_for_type(field_type: &FieldType) -> DynamicValue {
     match field_type {
@@ -226,9 +310,45 @@ pub fn default_for_type(field_type: &FieldType) -> DynamicValue {
         FieldType::Float64 => DynamicValue::Float64(0.0),
         FieldType::String | FieldType::BoundedString(_) => DynamicValue::String(String::new()),
         FieldType::Message(schema) => DynamicValue::Message(Box::new(DynamicMessage::new(schema))),
+        FieldType::Optional(_) => DynamicValue::Optional(None),
+        FieldType::Enum(schema) => DynamicValue::Enum(default_enum_value(schema)),
         FieldType::Array(inner, len) => DynamicValue::Array(vec![default_for_type(inner); *len]),
         FieldType::Sequence(_) | FieldType::BoundedSequence(_, _) => {
             DynamicValue::Array(Vec::new())
         }
     }
 }
+
+fn default_enum_value(schema: &Arc<EnumSchema>) -> EnumValue {
+    let variant = schema
+        .variants
+        .first()
+        .expect("enum schemas must have at least one variant");
+
+    EnumValue {
+        variant_index: 0,
+        variant_name: variant.name.clone(),
+        payload: default_enum_payload(&variant.payload),
+    }
+}
+
+fn default_enum_payload(payload: &EnumPayloadSchema) -> EnumPayloadValue {
+    match payload {
+        EnumPayloadSchema::Unit => EnumPayloadValue::Unit,
+        EnumPayloadSchema::Newtype(field_type) => {
+            EnumPayloadValue::Newtype(Box::new(default_for_type(field_type)))
+        }
+        EnumPayloadSchema::Tuple(field_types) => {
+            EnumPayloadValue::Tuple(field_types.iter().map(default_for_type).collect())
+        }
+        EnumPayloadSchema::Struct(fields) => EnumPayloadValue::Struct(
+            fields
+                .iter()
+                .map(|field| DynamicNamedValue {
+                    name: field.name.clone(),
+                    value: default_for_type(&field.field_type),
+                })
+                .collect(),
+        ),
+    }
+}
diff --git a/crates/ros-z/src/encoding.rs b/crates/ros-z/src/encoding.rs
index a591e5cd..f76e50c4 100644
--- a/crates/ros-z/src/encoding.rs
+++ b/crates/ros-z/src/encoding.rs
@@ -29,10 +29,6 @@ use std::fmt;
 /// // Protobuf with schema
 /// let proto = Encoding::protobuf()
 ///     .with_schema("geometry_msgs/msg/Vector3");
-///
-/// // FlatBuffers with schema
-/// let fb = Encoding::flatbuffers()
-///     .with_schema("sensor_msgs/msg/Image");
 /// ```
 #[derive(Debug, Clone, PartialEq, Eq, Hash, Default)]
 pub enum Encoding {
diff --git a/crates/ros-z/src/entity.rs b/crates/ros-z/src/entity.rs
index 37439236..57d5519d 100644
--- a/crates/ros-z/src/entity.rs
+++ b/crates/ros-z/src/entity.rs
@@ -42,9 +42,13 @@ pub fn node_lv_token_key_expr(entity: &NodeEntity) -> Result<KeyExpr<'static>> {
 /// Get the GID (globally unique identifier) for this endpoint
 pub fn endpoint_gid(entity: &EndpointEntity) -> crate::attachment::GidArray {
     use sha2::Digest;
+    let node = entity
+        .node
+        .as_ref()
+        .expect("endpoint_gid requires endpoint node identity");
     let mut hasher = sha2::Sha256::new();
     // ZenohId has to_le_bytes() method
-    hasher.update(entity.node.z_id.to_le_bytes());
+    hasher.update(node.z_id.to_le_bytes());
     hasher.update(entity.id.to_le_bytes());
     let hash = hasher.finalize();
     let mut gid = [0u8; 16];
@@ -64,7 +68,12 @@ pub fn node_to_liveliness_ke(entity: &NodeEntity) -> Result<LivelinessKE> {
 /// Convert an EndpointEntity to a LivelinessKE using the default format
 pub fn endpoint_to_liveliness_ke(entity: &EndpointEntity) -> Result<LivelinessKE> {
     let format = ros_z_protocol::KeyExprFormat::default();
-    format.liveliness_key_expr(entity, &entity.node.z_id)
+    let Some(node) = entity.node.as_ref() else {
+        return Err(zenoh::Error::from(
+            "endpoint liveliness requires node identity",
+        ));
+    };
+    format.liveliness_key_expr(entity, &node.z_id)
 }
 
 /// Convert an Entity to a LivelinessKE using the default format
@@ -79,7 +88,7 @@ pub fn entity_to_liveliness_ke(entity: &Entity) -> Result<LivelinessKE> {
 pub fn entity_kind(entity: &Entity) -> EntityKind {
     match entity {
         Entity::Node(_) => EntityKind::Node,
-        Entity::Endpoint(e) => e.kind,
+        Entity::Endpoint(e) => e.entity_kind(),
     }
 }
 
diff --git a/crates/ros-z/src/event.rs b/crates/ros-z/src/event.rs
index 6729910f..de4307be 100644
--- a/crates/ros-z/src/event.rs
+++ b/crates/ros-z/src/event.rs
@@ -237,7 +237,7 @@ impl GraphEventManager {
         appeared: bool,
         _local_zid: zenoh::session::ZenohId,
     ) {
-        use crate::entity::EntityKind;
+        use crate::entity::EndpointKind;
 
         let change = if appeared { 1 } else { -1 };
 
@@ -255,11 +255,10 @@ impl GraphEventManager {
         // When a subscription appears/disappears, publishers get PublicationMatched events
         let event_type = match entity {
             crate::entity::Entity::Endpoint(endpoint) => match endpoint.kind {
-                EntityKind::Publisher => ZenohEventType::SubscriptionMatched,
-                EntityKind::Subscription => ZenohEventType::PublicationMatched,
-                EntityKind::Service => return, // TODO: Add service matched events
-                EntityKind::Client => return,  // TODO: Add service matched events
-                EntityKind::Node => unreachable!("EndpointEntity should not have Node kind"),
+                EndpointKind::Publisher => ZenohEventType::SubscriptionMatched,
+                EndpointKind::Subscription => ZenohEventType::PublicationMatched,
+                EndpointKind::Service => return, // TODO: Add service matched events
+                EndpointKind::Client => return,  // TODO: Add service matched events
             },
             crate::entity::Entity::Node(_) => return, // Node changes don't trigger matched events
         };
diff --git a/crates/ros-z/src/extended_schema.rs b/crates/ros-z/src/extended_schema.rs
new file mode 100644
index 00000000..e5dc969d
--- /dev/null
+++ b/crates/ros-z/src/extended_schema.rs
@@ -0,0 +1,335 @@
+use std::sync::Arc;
+
+use serde::{Deserialize, Serialize};
+use sha2::Digest;
+
+use crate::dynamic::{DynamicError, FieldType, MessageSchema};
+use crate::node::ZNode;
+
+pub trait ExtendedMessageTypeInfo: crate::MessageTypeInfo {
+    fn extended_message_schema() -> Arc<MessageSchema>;
+
+    fn extended_field_type() -> FieldType {
+        FieldType::Message(Self::extended_message_schema())
+    }
+}
+
+#[derive(Serialize, Deserialize)]
+struct ExtendedMessageSchema {
+    type_name: String,
+    package: String,
+    name: String,
+    fields: Vec<ExtendedFieldSchema>,
+}
+
+#[derive(Serialize, Deserialize)]
+struct ExtendedFieldSchema {
+    name: String,
+    field_type: ExtendedFieldType,
+}
+
+#[derive(Serialize, Deserialize)]
+#[serde(tag = "kind", rename_all = "snake_case")]
+enum ExtendedFieldType {
+    Bool,
+    Int8,
+    Int16,
+    Int32,
+    Int64,
+    Uint8,
+    Uint16,
+    Uint32,
+    Uint64,
+    Float32,
+    Float64,
+    String,
+    BoundedString {
+        capacity: usize,
+    },
+    Message {
+        schema: Box<ExtendedMessageSchema>,
+    },
+    Optional {
+        inner: Box<ExtendedFieldType>,
+    },
+    Enum {
+        schema: Box<ExtendedEnumSchema>,
+    },
+    Array {
+        inner: Box<ExtendedFieldType>,
+        len: usize,
+    },
+    Sequence {
+        inner: Box<ExtendedFieldType>,
+    },
+    BoundedSequence {
+        inner: Box<ExtendedFieldType>,
+        max: usize,
+    },
+}
+
+#[derive(Serialize, Deserialize)]
+struct ExtendedEnumSchema {
+    type_name: String,
+    variants: Vec<ExtendedEnumVariantSchema>,
+}
+
+#[derive(Serialize, Deserialize)]
+struct ExtendedEnumVariantSchema {
+    name: String,
+    payload: ExtendedEnumPayloadSchema,
+}
+
+#[derive(Serialize, Deserialize)]
+#[serde(tag = "kind", rename_all = "snake_case")]
+enum ExtendedEnumPayloadSchema {
+    Unit,
+    Newtype { field_type: Box<ExtendedFieldType> },
+    Tuple { field_types: Vec<ExtendedFieldType> },
+    Struct { fields: Vec<ExtendedFieldSchema> },
+}
+
+pub fn compute_extended_type_hash(
+    schema: &MessageSchema,
+) -> Result<ros_z_schema::TypeHash, DynamicError> {
+    let extended = message_schema_to_extended(schema);
+    let json = ros_z_schema::to_ros2_json(&extended).map_err(|err| {
+        DynamicError::SerializationError(format!(
+            "failed to serialize extended schema hash view for {}: {}",
+            schema.type_name, err
+        ))
+    })?;
+
+    let mut hasher = sha2::Sha256::new();
+    hasher.update(json.as_bytes());
+    Ok(ros_z_schema::TypeHash(hasher.finalize().into()))
+}
+
+pub fn schema_to_extension_json(schema: &MessageSchema) -> Result<String, DynamicError> {
+    let extended = message_schema_to_extended(schema);
+    serde_json::to_string(&extended).map_err(|err| {
+        DynamicError::SerializationError(format!(
+            "failed to serialize extended schema for {}: {}",
+            schema.type_name, err
+        ))
+    })
+}
+
+pub fn schema_from_extension_json(json: &str) -> Result<Arc<MessageSchema>, DynamicError> {
+    let extended: ExtendedMessageSchema = serde_json::from_str(json).map_err(|err| {
+        DynamicError::DeserializationError(format!("failed to parse extended schema JSON: {}", err))
+    })?;
+    Ok(Arc::new(extended_to_message_schema(extended)))
+}
+
+pub fn register_type<T: ExtendedMessageTypeInfo>(node: &ZNode) -> Result<(), String> {
+    let schema = T::extended_message_schema();
+    if !schema.uses_extended_types() {
+        return Ok(());
+    }
+
+    let service = node.extended_type_description_service().ok_or_else(|| {
+        "extended type description service is not enabled on this node; call with_extended_type_description_service() to expose schemas for extended-only types".to_string()
+    })?;
+
+    service
+        .register_schema(schema)
+        .map_err(|err| format!("failed to register extended schema: {}", err))
+}
+
+fn message_schema_to_extended(schema: &MessageSchema) -> ExtendedMessageSchema {
+    ExtendedMessageSchema {
+        type_name: schema.type_name.clone(),
+        package: schema.package.clone(),
+        name: schema.name.clone(),
+        fields: schema.fields.iter().map(field_schema_to_extended).collect(),
+    }
+}
+
+fn field_schema_to_extended(field: &crate::dynamic::FieldSchema) -> ExtendedFieldSchema {
+    ExtendedFieldSchema {
+        name: field.name.clone(),
+        field_type: field_type_to_extended(&field.field_type),
+    }
+}
+
+fn field_type_to_extended(field_type: &FieldType) -> ExtendedFieldType {
+    match field_type {
+        FieldType::Bool => ExtendedFieldType::Bool,
+        FieldType::Int8 => ExtendedFieldType::Int8,
+        FieldType::Int16 => ExtendedFieldType::Int16,
+        FieldType::Int32 => ExtendedFieldType::Int32,
+        FieldType::Int64 => ExtendedFieldType::Int64,
+        FieldType::Uint8 => ExtendedFieldType::Uint8,
+        FieldType::Uint16 => ExtendedFieldType::Uint16,
+        FieldType::Uint32 => ExtendedFieldType::Uint32,
+        FieldType::Uint64 => ExtendedFieldType::Uint64,
+        FieldType::Float32 => ExtendedFieldType::Float32,
+        FieldType::Float64 => ExtendedFieldType::Float64,
+        FieldType::String => ExtendedFieldType::String,
+        FieldType::BoundedString(capacity) => ExtendedFieldType::BoundedString {
+            capacity: *capacity,
+        },
+        FieldType::Message(schema) => ExtendedFieldType::Message {
+            schema: Box::new(message_schema_to_extended(schema)),
+        },
+        FieldType::Optional(inner) => ExtendedFieldType::Optional {
+            inner: Box::new(field_type_to_extended(inner)),
+        },
+        FieldType::Enum(schema) => ExtendedFieldType::Enum {
+            schema: Box::new(enum_schema_to_extended(schema)),
+        },
+        FieldType::Array(inner, len) => ExtendedFieldType::Array {
+            inner: Box::new(field_type_to_extended(inner)),
+            len: *len,
+        },
+        FieldType::Sequence(inner) => ExtendedFieldType::Sequence {
+            inner: Box::new(field_type_to_extended(inner)),
+        },
+        FieldType::BoundedSequence(inner, max) => ExtendedFieldType::BoundedSequence {
+            inner: Box::new(field_type_to_extended(inner)),
+            max: *max,
+        },
+    }
+}
+
+fn enum_schema_to_extended(schema: &crate::dynamic::EnumSchema) -> ExtendedEnumSchema {
+    ExtendedEnumSchema {
+        type_name: schema.type_name.clone(),
+        variants: schema
+            .variants
+            .iter()
+            .map(enum_variant_to_extended)
+            .collect(),
+    }
+}
+
+fn enum_variant_to_extended(
+    variant: &crate::dynamic::EnumVariantSchema,
+) -> ExtendedEnumVariantSchema {
+    ExtendedEnumVariantSchema {
+        name: variant.name.clone(),
+        payload: enum_payload_to_extended(&variant.payload),
+    }
+}
+
+fn enum_payload_to_extended(
+    payload: &crate::dynamic::EnumPayloadSchema,
+) -> ExtendedEnumPayloadSchema {
+    match payload {
+        crate::dynamic::EnumPayloadSchema::Unit => ExtendedEnumPayloadSchema::Unit,
+        crate::dynamic::EnumPayloadSchema::Newtype(field_type) => {
+            ExtendedEnumPayloadSchema::Newtype {
+                field_type: Box::new(field_type_to_extended(field_type)),
+            }
+        }
+        crate::dynamic::EnumPayloadSchema::Tuple(field_types) => ExtendedEnumPayloadSchema::Tuple {
+            field_types: field_types.iter().map(field_type_to_extended).collect(),
+        },
+        crate::dynamic::EnumPayloadSchema::Struct(fields) => ExtendedEnumPayloadSchema::Struct {
+            fields: fields.iter().map(field_schema_to_extended).collect(),
+        },
+    }
+}
+
+fn extended_to_message_schema(schema: ExtendedMessageSchema) -> MessageSchema {
+    MessageSchema {
+        type_name: schema.type_name,
+        package: schema.package,
+        name: schema.name,
+        fields: schema
+            .fields
+            .into_iter()
+            .map(extended_to_field_schema)
+            .collect(),
+        type_hash: None,
+    }
+}
+
+fn extended_to_field_schema(field: ExtendedFieldSchema) -> crate::dynamic::FieldSchema {
+    crate::dynamic::FieldSchema {
+        name: field.name,
+        field_type: extended_to_field_type(field.field_type),
+        default_value: None,
+    }
+}
+
+fn extended_to_field_type(field_type: ExtendedFieldType) -> FieldType {
+    match field_type {
+        ExtendedFieldType::Bool => FieldType::Bool,
+        ExtendedFieldType::Int8 => FieldType::Int8,
+        ExtendedFieldType::Int16 => FieldType::Int16,
+        ExtendedFieldType::Int32 => FieldType::Int32,
+        ExtendedFieldType::Int64 => FieldType::Int64,
+        ExtendedFieldType::Uint8 => FieldType::Uint8,
+        ExtendedFieldType::Uint16 => FieldType::Uint16,
+        ExtendedFieldType::Uint32 => FieldType::Uint32,
+        ExtendedFieldType::Uint64 => FieldType::Uint64,
+        ExtendedFieldType::Float32 => FieldType::Float32,
+        ExtendedFieldType::Float64 => FieldType::Float64,
+        ExtendedFieldType::String => FieldType::String,
+        ExtendedFieldType::BoundedString { capacity } => FieldType::BoundedString(capacity),
+        ExtendedFieldType::Message { schema } => {
+            FieldType::Message(Arc::new(extended_to_message_schema(*schema)))
+        }
+        ExtendedFieldType::Optional { inner } => {
+            FieldType::Optional(Box::new(extended_to_field_type(*inner)))
+        }
+        ExtendedFieldType::Enum { schema } => {
+            FieldType::Enum(Arc::new(extended_to_enum_schema(*schema)))
+        }
+        ExtendedFieldType::Array { inner, len } => {
+            FieldType::Array(Box::new(extended_to_field_type(*inner)), len)
+        }
+        ExtendedFieldType::Sequence { inner } => {
+            FieldType::Sequence(Box::new(extended_to_field_type(*inner)))
+        }
+        ExtendedFieldType::BoundedSequence { inner, max } => {
+            FieldType::BoundedSequence(Box::new(extended_to_field_type(*inner)), max)
+        }
+    }
+}
+
+fn extended_to_enum_schema(schema: ExtendedEnumSchema) -> crate::dynamic::EnumSchema {
+    crate::dynamic::EnumSchema {
+        type_name: schema.type_name,
+        variants: schema
+            .variants
+            .into_iter()
+            .map(extended_to_enum_variant)
+            .collect(),
+    }
+}
+
+fn extended_to_enum_variant(
+    variant: ExtendedEnumVariantSchema,
+) -> crate::dynamic::EnumVariantSchema {
+    crate::dynamic::EnumVariantSchema {
+        name: variant.name,
+        payload: extended_to_enum_payload(variant.payload),
+    }
+}
+
+fn extended_to_enum_payload(
+    payload: ExtendedEnumPayloadSchema,
+) -> crate::dynamic::EnumPayloadSchema {
+    match payload {
+        ExtendedEnumPayloadSchema::Unit => crate::dynamic::EnumPayloadSchema::Unit,
+        ExtendedEnumPayloadSchema::Newtype { field_type } => {
+            crate::dynamic::EnumPayloadSchema::Newtype(Box::new(extended_to_field_type(
+                *field_type,
+            )))
+        }
+        ExtendedEnumPayloadSchema::Tuple { field_types } => {
+            crate::dynamic::EnumPayloadSchema::Tuple(
+                field_types
+                    .into_iter()
+                    .map(extended_to_field_type)
+                    .collect(),
+            )
+        }
+        ExtendedEnumPayloadSchema::Struct { fields } => crate::dynamic::EnumPayloadSchema::Struct(
+            fields.into_iter().map(extended_to_field_schema).collect(),
+        ),
+    }
+}
diff --git a/crates/ros-z/src/extended_type_description_query.rs b/crates/ros-z/src/extended_type_description_query.rs
new file mode 100644
index 00000000..279da5c9
--- /dev/null
+++ b/crates/ros-z/src/extended_type_description_query.rs
@@ -0,0 +1,61 @@
+use std::{sync::Arc, time::Duration};
+
+use crate::{Builder, dynamic::DynamicError, node::ZNode};
+
+use crate::dynamic::{MessageSchema, discovery::TopicSchemaCandidate};
+use crate::extended_type_description_service::{
+    GetExtendedTypeDescription, GetExtendedTypeDescriptionRequest,
+    GetExtendedTypeDescriptionResponse,
+};
+
+use crate::extended_schema::schema_from_extension_json;
+
+/// Query the extended type-description service for a single current topic candidate.
+pub(crate) async fn query_extended_type_description(
+    node: &ZNode,
+    candidate: &TopicSchemaCandidate,
+    timeout: Duration,
+) -> Result<(Arc<MessageSchema>, String), DynamicError> {
+    let service_name = if candidate.namespace.is_empty() || candidate.namespace == "/" {
+        format!("/{}/get_extended_type_description", candidate.node_name)
+    } else {
+        format!(
+            "{}/{}/get_extended_type_description",
+            candidate.namespace, candidate.node_name
+        )
+    };
+
+    let client = node
+        .create_client::<GetExtendedTypeDescription>(&service_name)
+        .build()
+        .map_err(|e| DynamicError::SerializationError(e.to_string()))?;
+    let request = GetExtendedTypeDescriptionRequest {
+        type_name: candidate.type_name.clone(),
+        type_hash: candidate.type_hash.clone(),
+    };
+
+    let response = client
+        .call_or_timeout(&request, timeout)
+        .await
+        .map_err(|_| {
+            DynamicError::SerializationError(
+                "extended type description service timed out".to_string(),
+            )
+        })?;
+
+    let schema = schema_from_extended_type_description_response(&response)?;
+    Ok((schema, response.type_hash))
+}
+
+pub fn schema_from_extended_type_description_response(
+    response: &GetExtendedTypeDescriptionResponse,
+) -> Result<Arc<MessageSchema>, DynamicError> {
+    if !response.successful {
+        return Err(DynamicError::SerializationError(format!(
+            "Response indicates failure: {}",
+            response.failure_reason
+        )));
+    }
+
+    schema_from_extension_json(&response.schema_json)
+}
diff --git a/crates/ros-z/src/extended_type_description_service.rs b/crates/ros-z/src/extended_type_description_service.rs
new file mode 100644
index 00000000..2c2015ed
--- /dev/null
+++ b/crates/ros-z/src/extended_type_description_service.rs
@@ -0,0 +1,241 @@
+use std::sync::{Arc, RwLock};
+
+use serde::{Deserialize, Serialize};
+use tracing::{debug, info, warn};
+use zenoh::Session;
+
+use crate::ServiceTypeInfo;
+use crate::attachment::Attachment;
+use crate::context::GlobalCounter;
+use crate::dynamic::{DynamicError, MessageSchema};
+use crate::entity::{EndpointEntity, EndpointKind, NodeEntity, TypeHash, TypeInfo};
+use crate::msg::{SerdeCdrSerdes, ZMessage, ZService};
+use crate::service::{ZServer, ZServerBuilder};
+
+use crate::extended_schema::{compute_extended_type_hash, schema_to_extension_json};
+
+const EXTENDED_SERVICE_NAME: &str = "~get_extended_type_description";
+
+#[derive(Debug, Clone, Default, Serialize, Deserialize)]
+pub struct GetExtendedTypeDescriptionRequest {
+    pub type_name: String,
+    pub type_hash: String,
+}
+
+impl ZMessage for GetExtendedTypeDescriptionRequest {
+    type Serdes = SerdeCdrSerdes<Self>;
+}
+
+#[derive(Debug, Clone, Default, Serialize, Deserialize)]
+pub struct GetExtendedTypeDescriptionResponse {
+    pub successful: bool,
+    pub failure_reason: String,
+    pub type_hash: String,
+    pub schema_json: String,
+}
+
+impl ZMessage for GetExtendedTypeDescriptionResponse {
+    type Serdes = SerdeCdrSerdes<Self>;
+}
+
+pub struct GetExtendedTypeDescription;
+
+impl ZService for GetExtendedTypeDescription {
+    type Request = GetExtendedTypeDescriptionRequest;
+    type Response = GetExtendedTypeDescriptionResponse;
+}
+
+impl ServiceTypeInfo for GetExtendedTypeDescription {
+    fn service_type_info() -> TypeInfo {
+        TypeInfo::new(
+            "ros_z::srv::dds_::GetExtendedTypeDescription_",
+            TypeHash::zero(),
+        )
+    }
+}
+
+#[derive(Clone)]
+pub struct RegisteredExtendedSchema {
+    pub schema: Arc<MessageSchema>,
+    pub type_hash: String,
+}
+
+impl RegisteredExtendedSchema {
+    pub fn new(schema: Arc<MessageSchema>) -> Result<Self, DynamicError> {
+        let type_hash = compute_extended_type_hash(&schema)?.to_rihs_string();
+        Ok(Self { schema, type_hash })
+    }
+}
+
+#[derive(Clone)]
+pub struct ExtendedTypeDescriptionService {
+    schemas: Arc<RwLock<std::collections::HashMap<String, RegisteredExtendedSchema>>>,
+    _server: Arc<ZServer<GetExtendedTypeDescription, ()>>,
+}
+
+impl ExtendedTypeDescriptionService {
+    pub fn new(
+        session: Arc<Session>,
+        node_name: &str,
+        namespace: &str,
+        node_id: usize,
+        counter: &GlobalCounter,
+        clock: &crate::time::ZClock,
+    ) -> zenoh::Result<Self> {
+        let schemas = Arc::new(RwLock::new(std::collections::HashMap::new()));
+        let node_entity = NodeEntity::new(
+            0,
+            session.zid(),
+            node_id,
+            node_name.to_string(),
+            namespace.to_string(),
+            String::new(),
+        );
+
+        let entity = EndpointEntity {
+            id: counter.increment(),
+            node: Some(node_entity),
+            kind: EndpointKind::Service,
+            topic: EXTENDED_SERVICE_NAME.to_string(),
+            type_info: Some(GetExtendedTypeDescription::service_type_info()),
+            qos: Default::default(),
+        };
+
+        let server_builder: ZServerBuilder<GetExtendedTypeDescription> = ZServerBuilder {
+            entity,
+            session,
+            clock: clock.clone(),
+            keyexpr_format: ros_z_protocol::KeyExprFormat::default(),
+            _phantom_data: Default::default(),
+        };
+
+        let schemas_clone = schemas.clone();
+        let server = server_builder.build_with_callback(move |query| {
+            Self::handle_query(&schemas_clone, &query);
+        })?;
+
+        info!(
+            "[ETDS] ExtendedTypeDescriptionService created for node: {}/{}",
+            namespace, node_name
+        );
+
+        Ok(Self {
+            schemas,
+            _server: Arc::new(server),
+        })
+    }
+
+    pub fn register_schema(&self, schema: Arc<MessageSchema>) -> Result<(), DynamicError> {
+        let registered = RegisteredExtendedSchema::new(schema.clone())?;
+        let type_name = schema.type_name.clone();
+
+        let mut schemas = self
+            .schemas
+            .write()
+            .map_err(|_| DynamicError::RegistryLockPoisoned)?;
+        schemas.insert(type_name.clone(), registered);
+
+        debug!("[ETDS] Registered extended schema: {}", type_name);
+        Ok(())
+    }
+
+    pub fn get_schema(&self, type_name: &str) -> Result<Option<Arc<MessageSchema>>, DynamicError> {
+        let schemas = self
+            .schemas
+            .read()
+            .map_err(|_| DynamicError::RegistryLockPoisoned)?;
+        Ok(schemas
+            .get(type_name)
+            .map(|registered| registered.schema.clone()))
+    }
+
+    fn handle_query(
+        schemas: &Arc<RwLock<std::collections::HashMap<String, RegisteredExtendedSchema>>>,
+        query: &zenoh::query::Query,
+    ) {
+        let request = match query.payload() {
+            Some(payload) => match <GetExtendedTypeDescriptionRequest as ZMessage>::deserialize(
+                payload.to_bytes().as_ref(),
+            ) {
+                Ok(request) => request,
+                Err(err) => {
+                    warn!("[ETDS] Failed to decode request: {}", err);
+                    return;
+                }
+            },
+            None => {
+                warn!("[ETDS] Missing request payload");
+                return;
+            }
+        };
+
+        let response = Self::build_response(schemas, &request);
+        let bytes = ZMessage::serialize(&response);
+        use zenoh::Wait;
+        let mut reply = query.reply(query.key_expr().clone(), bytes);
+        if let Some(att_bytes) = query.attachment()
+            && let Ok(att) = Attachment::try_from(att_bytes)
+        {
+            reply = reply.attachment(att);
+        }
+        if let Err(err) = reply.wait() {
+            warn!("[ETDS] Failed to send response: {}", err);
+        }
+    }
+
+    fn build_response(
+        schemas: &Arc<RwLock<std::collections::HashMap<String, RegisteredExtendedSchema>>>,
+        request: &GetExtendedTypeDescriptionRequest,
+    ) -> GetExtendedTypeDescriptionResponse {
+        let schemas_guard = match schemas.read() {
+            Ok(guard) => guard,
+            Err(_) => {
+                return GetExtendedTypeDescriptionResponse {
+                    successful: false,
+                    failure_reason: "Internal error: registry lock poisoned".to_string(),
+                    type_hash: String::new(),
+                    schema_json: String::new(),
+                };
+            }
+        };
+
+        let registered = match schemas_guard.get(&request.type_name) {
+            Some(schema) => schema,
+            None => {
+                return GetExtendedTypeDescriptionResponse {
+                    successful: false,
+                    failure_reason: format!("Type '{}' not registered", request.type_name),
+                    type_hash: String::new(),
+                    schema_json: String::new(),
+                };
+            }
+        };
+
+        if !request.type_hash.is_empty() && request.type_hash != registered.type_hash {
+            return GetExtendedTypeDescriptionResponse {
+                successful: false,
+                failure_reason: format!(
+                    "Type hash mismatch: expected {}, got {}",
+                    registered.type_hash, request.type_hash
+                ),
+                type_hash: String::new(),
+                schema_json: String::new(),
+            };
+        }
+
+        match schema_to_extension_json(&registered.schema) {
+            Ok(schema_json) => GetExtendedTypeDescriptionResponse {
+                successful: true,
+                failure_reason: String::new(),
+                type_hash: registered.type_hash.clone(),
+                schema_json,
+            },
+            Err(err) => GetExtendedTypeDescriptionResponse {
+                successful: false,
+                failure_reason: format!("Failed to serialize extended schema: {}", err),
+                type_hash: String::new(),
+                schema_json: String::new(),
+            },
+        }
+    }
+}
diff --git a/crates/ros-z/src/graph.rs b/crates/ros-z/src/graph.rs
index 3db2ba8f..cf78e15a 100644
--- a/crates/ros-z/src/graph.rs
+++ b/crates/ros-z/src/graph.rs
@@ -10,12 +10,15 @@ use tokio::sync::Notify;
 use tracing::debug;
 
 use crate::entity::{
-    ADMIN_SPACE, EndpointEntity, Entity, EntityKind, LivelinessKE, NodeKey, Topic,
+    ADMIN_SPACE, EndpointEntity, EndpointKind, Entity, EntityKind, LivelinessKE, NodeKey, Topic,
 };
 use crate::event::GraphEventManager;
 use tracing;
 use zenoh::{Result, Session, Wait, pubsub::Subscriber, sample::SampleKind, session::ZenohId};
 
+#[cfg(test)]
+use zenoh::key_expr::KeyExpr;
+
 /// A serializable snapshot of the ROS graph state
 #[derive(Debug, Clone, Serialize)]
 pub struct GraphSnapshot {
@@ -26,6 +29,52 @@ pub struct GraphSnapshot {
     pub services: Vec<ServiceSnapshot>,
 }
 
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::entity::{EndpointEntity, EndpointKind};
+
+    #[test]
+    fn test_key_expr_origin_zid_supports_ros2dds_tokens() {
+        let zid: ZenohId = "1234567890abcdef1234567890abcdef".parse().unwrap();
+        let key_expr: KeyExpr<'static> = "@/1234567890abcdef1234567890abcdef/@ros2_lv/MP/chatter/std_msgs\u{00A7}msg\u{00A7}String"
+            .to_string()
+            .try_into()
+            .unwrap();
+
+        assert_eq!(key_expr_origin_zid(&key_expr), Some(zid));
+    }
+
+    #[test]
+    fn test_key_expr_origin_zid_supports_rmw_zenoh_tokens() {
+        let zid: ZenohId = "1234567890abcdef1234567890abcdef".parse().unwrap();
+        let key_expr: KeyExpr<'static> = "@ros2_lv/0/1234567890abcdef1234567890abcdef/1/1/MP/%/%/talker/chatter/std_msgs%msg%String/RIHS01_00000000000000000000000000000000/Q"
+            .try_into()
+            .unwrap();
+
+        assert_eq!(key_expr_origin_zid(&key_expr), Some(zid));
+    }
+
+    #[test]
+    fn test_entity_matches_local_zid_for_ros2dds_endpoint_without_node_identity() {
+        let zid: ZenohId = "1234567890abcdef1234567890abcdef".parse().unwrap();
+        let entity = Entity::Endpoint(EndpointEntity {
+            id: 1,
+            node: None,
+            kind: EndpointKind::Publisher,
+            topic: "/chatter".to_string(),
+            type_info: None,
+            qos: Default::default(),
+        });
+        let key_expr: KeyExpr<'static> = "@/1234567890abcdef1234567890abcdef/@ros2_lv/MP/chatter/std_msgs\u{00A7}msg\u{00A7}String"
+            .to_string()
+            .try_into()
+            .unwrap();
+
+        assert!(entity_matches_local_zid(&entity, &key_expr, zid));
+    }
+}
+
 #[derive(Debug, Clone, Serialize)]
 pub struct TopicSnapshot {
     pub name: String,
@@ -53,6 +102,34 @@ const DEFAULT_SLAB_CAPACITY: usize = 128;
 /// Type alias for entity parser function
 type EntityParser = Arc<dyn Fn(&zenoh::key_expr::KeyExpr) -> Result<Entity> + Send + Sync>;
 
+#[cfg(test)]
+fn key_expr_origin_zid(key_expr: &KeyExpr) -> Option<ZenohId> {
+    let mut segments = key_expr.split('/');
+
+    match segments.next()? {
+        "@" => segments.next()?.parse().ok(),
+        ADMIN_SPACE => {
+            segments.next()?;
+            segments.next()?.parse().ok()
+        }
+        _ => None,
+    }
+}
+
+#[cfg(test)]
+fn entity_matches_local_zid(entity: &Entity, key_expr: &KeyExpr, local_zid: ZenohId) -> bool {
+    let owner_zid = match entity {
+        Entity::Node(node) => Some(node.z_id),
+        Entity::Endpoint(endpoint) => endpoint
+            .node
+            .as_ref()
+            .map(|node| node.z_id)
+            .or_else(|| key_expr_origin_zid(key_expr)),
+    };
+
+    owner_zid.is_some_and(|zid| zid == local_zid)
+}
+
 pub struct GraphData {
     cached: HashSet<LivelinessKE>,
     parsed: HashMap<LivelinessKE, Arc<Entity>>,
@@ -165,28 +242,43 @@ impl GraphData {
                     slab.insert(weak);
                 }
                 Entity::Endpoint(x) => {
+                    let node_desc = x
+                        .node
+                        .as_ref()
+                        .map(|node| format!("{}/{}", node.namespace, node.name))
+                        .unwrap_or_else(|| "<unavailable>".to_string());
                     debug!(
-                        "[GRF] Parsed endpoint: kind={:?}, topic={}, node={}/{}",
-                        x.kind, x.topic, x.node.namespace, x.node.name
+                        "[GRF] Parsed endpoint: kind={:?}, topic={}, node={}",
+                        x.kind, x.topic, node_desc
                     );
-                    let node_key = crate::entity::node_key(&x.node);
                     let type_str = x
                         .type_info
                         .as_ref()
                         .map(|t| t.name.as_str())
                         .unwrap_or("unknown");
-                    tracing::debug!(
-                        "parse: Storing Endpoint ({:?}) for node_key=({:?}, {:?}), topic={}, type={}, id={}",
-                        x.kind,
-                        node_key.0,
-                        node_key.1,
-                        x.topic,
-                        type_str,
-                        x.id
-                    );
+                    if let Some(node) = x.node.as_ref() {
+                        let node_key = crate::entity::node_key(node);
+                        tracing::debug!(
+                            "parse: Storing Endpoint ({:?}) for node_key=({:?}, {:?}), topic={}, type={}, id={}",
+                            x.kind,
+                            node_key.0,
+                            node_key.1,
+                            x.topic,
+                            type_str,
+                            x.id
+                        );
+                    } else {
+                        tracing::debug!(
+                            "parse: Storing Endpoint ({:?}) without node identity, topic={}, type={}, id={}",
+                            x.kind,
+                            x.topic,
+                            type_str,
+                            x.id
+                        );
+                    }
 
                     // Index by topic for Publisher/Subscription entities
-                    if matches!(x.kind, EntityKind::Publisher | EntityKind::Subscription) {
+                    if matches!(x.kind, EndpointKind::Publisher | EndpointKind::Subscription) {
                         // TODO: omit the clone of topic
                         let topic_slab = self
                             .by_topic
@@ -202,7 +294,7 @@ impl GraphData {
                     }
 
                     // Index by service for Service/Client entities
-                    if matches!(x.kind, EntityKind::Service | EntityKind::Client) {
+                    if matches!(x.kind, EndpointKind::Service | EndpointKind::Client) {
                         // TODO: omit the clone of service name (stored in topic field)
                         let service_slab = self
                             .by_service
@@ -216,17 +308,19 @@ impl GraphData {
 
                         service_slab.insert(weak.clone());
                     }
-                    let node_slab = self
-                        .by_node
-                        .entry(node_key)
-                        .or_insert_with(|| Slab::with_capacity(DEFAULT_SLAB_CAPACITY));
+                    if let Some(node) = x.node.as_ref() {
+                        let node_slab = self
+                            .by_node
+                            .entry(crate::entity::node_key(node))
+                            .or_insert_with(|| Slab::with_capacity(DEFAULT_SLAB_CAPACITY));
 
-                    // If slab is full, remove failing weak pointers first
-                    if node_slab.len() >= node_slab.capacity() {
-                        node_slab.retain(|_, weak_ptr| weak_ptr.upgrade().is_some());
-                    }
+                        // If slab is full, remove failing weak pointers first
+                        if node_slab.len() >= node_slab.capacity() {
+                            node_slab.retain(|_, weak_ptr| weak_ptr.upgrade().is_some());
+                        }
 
-                    node_slab.insert(weak);
+                        node_slab.insert(weak);
+                    }
                 }
             }
             self.parsed.insert(ke, arc);
@@ -337,6 +431,33 @@ impl std::fmt::Debug for Graph {
 }
 
 impl Graph {
+    /// Create a new Graph using an explicit key expression format.
+    ///
+    /// The format determines both the liveliness subscription pattern and the
+    /// parser used to turn liveliness keys back into ROS entities.
+    pub fn new(
+        session: &Session,
+        domain_id: usize,
+        format: ros_z_protocol::KeyExprFormat,
+    ) -> Result<Self> {
+        let liveliness_pattern = match format {
+            ros_z_protocol::KeyExprFormat::RmwZenoh => {
+                format!("{ADMIN_SPACE}/{domain_id}/**")
+            }
+            ros_z_protocol::KeyExprFormat::Ros2Dds => "@/*/@ros2_lv/**".to_string(),
+            _ => {
+                return Err(zenoh::Error::from(format!(
+                    "unsupported key expression format for graph construction: {:?}",
+                    format
+                )));
+            }
+        };
+
+        Self::new_with_pattern(session, domain_id, liveliness_pattern, move |ke| {
+            format.parse_liveliness(ke)
+        })
+    }
+
     async fn wait_until<F>(&self, timeout: Duration, predicate: F) -> bool
     where
         F: Fn(&Self) -> bool,
@@ -364,17 +485,6 @@ impl Graph {
         }
     }
 
-    pub fn new(session: &Session, domain_id: usize) -> Result<Self> {
-        // Default to RmwZenoh format
-        let format = ros_z_protocol::KeyExprFormat::default();
-        Self::new_with_pattern(
-            session,
-            domain_id,
-            format!("{ADMIN_SPACE}/{domain_id}/**"),
-            move |ke| format.parse_liveliness(ke),
-        )
-    }
-
     /// Create a new Graph with a custom liveliness subscription pattern and parser
     ///
     /// # Arguments
@@ -405,7 +515,6 @@ impl Graph {
         let c_change_notify = change_notify.clone();
         let c_zid = zid;
         let c_liveliness_pattern = liveliness_pattern.clone();
-        let c_parser = parser_arc.clone();
         let callback_parser = parser_arc.clone();
         tracing::debug!("Creating liveliness subscriber for {}", liveliness_pattern);
         let sub = session
@@ -426,6 +535,18 @@ impl Graph {
                     SampleKind::Put => {
                         debug!("[GRF] Entity appeared: {}", ke.0);
                         tracing::debug!("Graph subscriber: PUT {}", key_expr.as_str());
+                        let parsed_entity = match callback_parser(&key_expr) {
+                            Ok(entity) => Some(entity),
+                            Err(e) => {
+                                tracing::warn!(
+                                    "Failed to parse liveliness token {}: {:?}",
+                                    key_expr,
+                                    e
+                                );
+                                None
+                            }
+                        };
+
                         // Only insert if not already parsed (avoid duplicates from liveliness query)
                         let already_parsed = graph_data_guard.parsed.contains_key(&ke);
                         let already_cached = graph_data_guard.cached.contains(&ke);
@@ -444,19 +565,9 @@ impl Graph {
                             tracing::debug!("  Adding to cached");
                             graph_data_guard.insert(ke.clone());
                         }
-                        // Trigger graph change events using backend-specific parser
-                        match callback_parser(&key_expr) {
-                            Ok(entity) => {
-                                tracing::debug!("Successfully parsed entity: {:?}", entity);
-                                c_event_manager.trigger_graph_change(&entity, true, c_zid);
-                            }
-                            Err(e) => {
-                                tracing::warn!(
-                                    "Failed to parse liveliness token {}: {:?}",
-                                    key_expr,
-                                    e
-                                );
-                            }
+                        if let Some(entity) = parsed_entity {
+                            tracing::debug!("Successfully parsed entity: {:?}", entity);
+                            c_event_manager.trigger_graph_change(&entity, true, c_zid);
                         }
                         // Wake any tasks waiting in wait_for_subscription / wait_for_publisher.
                         c_change_notify.notify_waiters();
@@ -484,44 +595,21 @@ impl Graph {
             .timeout(std::time::Duration::from_secs(3))
             .wait()?;
 
-        // Process all replies and add them to the graph
-        // IMPORTANT: Filter out entities from the current session to avoid duplicates
-        // Local entities are already added via add_local_entity()
+        // Process all replies and add them to the graph.
+        // At this point plain ros-z still relies on liveliness for local entity
+        // visibility, so do not filter current-session entities here.
         let mut reply_count = 0;
-        let mut filtered_count = 0;
         while let Ok(reply) = replies.recv() {
             reply_count += 1;
             if let Ok(sample) = reply.into_result() {
                 let key_expr = sample.key_expr().to_owned();
                 let ke = LivelinessKE(key_expr.clone());
 
-                // Parse entity to check if it's from current session using backend-specific parser
-                if let Ok(entity) = c_parser(&key_expr) {
-                    // Skip entities from current session
-                    let is_local = match &entity {
-                        Entity::Node(node) => node.z_id == zid,
-                        Entity::Endpoint(endpoint) => endpoint.node.z_id == zid,
-                    };
-
-                    if !is_local {
-                        // Only insert entities from other sessions
-                        tracing::debug!(
-                            "Graph: Adding cross-context entity: {}",
-                            key_expr.as_str()
-                        );
-                        graph_data.lock().insert(ke);
-                    } else {
-                        filtered_count += 1;
-                        tracing::debug!("Graph: Filtered local entity: {}", key_expr.as_str());
-                    }
-                }
+                tracing::debug!("Graph: Caching liveliness entity: {}", key_expr.as_str());
+                graph_data.lock().insert(ke);
             }
         }
-        tracing::debug!(
-            "Graph: Liveliness query received {} replies, filtered {} local entities",
-            reply_count,
-            filtered_count
-        );
+        tracing::debug!("Graph: Liveliness query received {} replies", reply_count);
 
         Ok(Self {
             _subscriber: sub,
@@ -536,7 +624,10 @@ impl Graph {
     pub fn is_entity_local(&self, entity: &Entity) -> bool {
         match entity {
             Entity::Node(node) => node.z_id == self.zid,
-            Entity::Endpoint(endpoint) => endpoint.node.z_id == self.zid,
+            Entity::Endpoint(endpoint) => endpoint
+                .node
+                .as_ref()
+                .is_some_and(|node| node.z_id == self.zid),
         }
     }
 
@@ -576,7 +667,7 @@ impl Graph {
                 // Index by topic for Publisher/Subscription
                 if matches!(
                     endpoint.kind,
-                    EntityKind::Publisher | EntityKind::Subscription
+                    EndpointKind::Publisher | EndpointKind::Subscription
                 ) {
                     let topic_slab = data
                         .by_topic
@@ -590,7 +681,7 @@ impl Graph {
                 }
 
                 // Index by service for Service/Client
-                if matches!(endpoint.kind, EntityKind::Service | EntityKind::Client) {
+                if matches!(endpoint.kind, EndpointKind::Service | EndpointKind::Client) {
                     let service_slab = data
                         .by_service
                         .entry(endpoint.topic.clone())
@@ -603,15 +694,17 @@ impl Graph {
                 }
 
                 // Index by node
-                let node_slab = data
-                    .by_node
-                    .entry(crate::entity::node_key(&endpoint.node))
-                    .or_insert_with(|| Slab::with_capacity(DEFAULT_SLAB_CAPACITY));
+                if let Some(node) = endpoint.node.as_ref() {
+                    let node_slab = data
+                        .by_node
+                        .entry(crate::entity::node_key(node))
+                        .or_insert_with(|| Slab::with_capacity(DEFAULT_SLAB_CAPACITY));
 
-                if node_slab.len() >= node_slab.capacity() {
-                    node_slab.retain(|_, weak_ptr| weak_ptr.upgrade().is_some());
+                    if node_slab.len() >= node_slab.capacity() {
+                        node_slab.retain(|_, weak_ptr| weak_ptr.upgrade().is_some());
+                    }
+                    node_slab.insert(weak);
                 }
-                node_slab.insert(weak);
             }
         }
 
@@ -656,7 +749,7 @@ impl Graph {
                 // Remove from by_topic or by_service depending on kind
                 if matches!(
                     endpoint_entity.kind,
-                    EntityKind::Publisher | EntityKind::Subscription
+                    EndpointKind::Publisher | EndpointKind::Subscription
                 ) && let Some(slab) = data.by_topic.get_mut(&endpoint_entity.topic)
                 {
                     slab.retain(|_, weak| {
@@ -667,7 +760,7 @@ impl Graph {
                 }
                 if matches!(
                     endpoint_entity.kind,
-                    EntityKind::Service | EntityKind::Client
+                    EndpointKind::Service | EndpointKind::Client
                 ) && let Some(slab) = data.by_service.get_mut(&endpoint_entity.topic)
                 {
                     slab.retain(|_, weak| {
@@ -677,9 +770,8 @@ impl Graph {
                     });
                 }
                 // Also remove from by_node (endpoints are indexed by their node)
-                if let Some(slab) = data
-                    .by_node
-                    .get_mut(&crate::entity::node_key(&endpoint_entity.node))
+                if let Some(node) = endpoint_entity.node.as_ref()
+                    && let Some(slab) = data.by_node.get_mut(&crate::entity::node_key(node))
                 {
                     slab.retain(|_, weak| {
                         weak.upgrade().is_some_and(|arc| {
@@ -794,7 +886,7 @@ impl Graph {
                     // Skip expensive get_endpoint() if we already found the type
                     if let Some(enp) = crate::entity::entity_get_endpoint(&ent)
                         && found_type.is_none()
-                        && enp.kind == EntityKind::Service
+                        && enp.kind == EndpointKind::Service
                     {
                         found_type = enp.type_info.as_ref().map(|x| x.name.clone());
                     }
@@ -831,8 +923,10 @@ impl Graph {
                         && let Some(enp) = crate::entity::entity_get_endpoint(&ent)
                     {
                         // Include both publishers and subscribers
-                        if matches!(enp.kind, EntityKind::Publisher | EntityKind::Subscription)
-                            && let Some(type_info) = &enp.type_info
+                        if matches!(
+                            enp.kind,
+                            EndpointKind::Publisher | EndpointKind::Subscription
+                        ) && let Some(type_info) = &enp.type_info
                         {
                             found_type = Some(type_info.name.clone());
                         }
@@ -883,7 +977,7 @@ impl Graph {
 
         data.visit_by_node(node_key, |ent| {
             if let Some(enp) = crate::entity::entity_get_endpoint(&ent)
-                && enp.kind == kind
+                && enp.entity_kind() == kind
                 && let Some(type_info) = &enp.type_info
             {
                 // Insert into set for automatic deduplication
diff --git a/crates/ros-z/src/lib.rs b/crates/ros-z/src/lib.rs
index 9f28e8bd..2f8f426d 100644
--- a/crates/ros-z/src/lib.rs
+++ b/crates/ros-z/src/lib.rs
@@ -57,6 +57,10 @@ pub mod encoding;
 pub mod entity;
 /// Graph events emitted by the Zenoh network graph.
 pub mod event;
+/// ros-z-specific extended schema discovery for enums, options, and other non-ROS shapes.
+pub mod extended_schema;
+pub(crate) mod extended_type_description_query;
+pub(crate) mod extended_type_description_service;
 #[cfg(feature = "ffi")]
 pub mod ffi;
 /// ROS 2 graph introspection (node/topic/service discovery).
@@ -102,7 +106,9 @@ pub mod parameter;
 
 pub use attachment::GidArray;
 pub use entity::{TypeHash, TypeInfo};
+pub use extended_schema::ExtendedMessageTypeInfo;
 pub use ros_msg::{ActionTypeInfo, MessageTypeInfo, ServiceTypeInfo, WithTypeInfo};
+pub use ros_z_derive::{ExtendedMessageTypeInfo, MessageTypeInfo};
 pub use zbuf::ZBuf;
 pub use zenoh::Result;
 
diff --git a/crates/ros-z/src/lifecycle/client.rs b/crates/ros-z/src/lifecycle/client.rs
index 96468766..8940f047 100644
--- a/crates/ros-z/src/lifecycle/client.rs
+++ b/crates/ros-z/src/lifecycle/client.rs
@@ -128,8 +128,7 @@ impl ZLifecycleClient {
                 label: String::new(),
             },
         };
-        self.change_state.send_request(&req).await?;
-        let resp = self.change_state.take_response_timeout(timeout)?;
+        let resp = self.change_state.call_or_timeout(&req, timeout).await?;
         Ok(resp.success)
     }
 
@@ -139,17 +138,19 @@ impl ZLifecycleClient {
 
     /// Query the current state of the remote lifecycle node.
     pub async fn get_state(&self, timeout: Duration) -> Result<LifecycleState> {
-        self.get_state.send_request(&GetStateRequest {}).await?;
-        let resp = self.get_state.take_response_timeout(timeout)?;
+        let resp = self
+            .get_state
+            .call_or_timeout(&GetStateRequest {}, timeout)
+            .await?;
         Ok(state_from_lc(&resp.current_state))
     }
 
     /// List all states in the lifecycle state machine.
     pub async fn get_available_states(&self, timeout: Duration) -> Result<Vec<LcState>> {
-        self.get_available_states
-            .send_request(&GetAvailableStatesRequest {})
+        let resp = self
+            .get_available_states
+            .call_or_timeout(&GetAvailableStatesRequest {}, timeout)
             .await?;
-        let resp = self.get_available_states.take_response_timeout(timeout)?;
         Ok(resp.available_states)
     }
 
@@ -158,12 +159,10 @@ impl ZLifecycleClient {
         &self,
         timeout: Duration,
     ) -> Result<Vec<LcTransitionDescription>> {
-        self.get_available_transitions
-            .send_request(&GetAvailableTransitionsRequest {})
-            .await?;
         let resp = self
             .get_available_transitions
-            .take_response_timeout(timeout)?;
+            .call_or_timeout(&GetAvailableTransitionsRequest {}, timeout)
+            .await?;
         Ok(resp.available_transitions)
     }
 }
diff --git a/crates/ros-z/src/lifecycle/node.rs b/crates/ros-z/src/lifecycle/node.rs
index 4735c3e3..eb528e0a 100644
--- a/crates/ros-z/src/lifecycle/node.rs
+++ b/crates/ros-z/src/lifecycle/node.rs
@@ -409,7 +409,13 @@ fn encode_reply<T: ros_z_cdr::CdrSerialize + ros_z_cdr::CdrSerializedSize>(
     resp: &T,
 ) {
     let bytes = NativeCdrSerdes::serialize(resp);
-    if let Err(e) = query.reply(query.key_expr().clone(), bytes).wait() {
+    let mut reply = query.reply(query.key_expr().clone(), bytes);
+    if let Some(att_bytes) = query.attachment()
+        && let Ok(att) = crate::attachment::Attachment::try_from(att_bytes)
+    {
+        reply = reply.attachment(att);
+    }
+    if let Err(e) = reply.wait() {
         warn!("failed to send lifecycle reply: {e}");
     }
 }
diff --git a/crates/ros-z/src/node.rs b/crates/ros-z/src/node.rs
index 955c6101..e2ff794a 100644
--- a/crates/ros-z/src/node.rs
+++ b/crates/ros-z/src/node.rs
@@ -1,7 +1,7 @@
 use std::{sync::Arc, time::Duration};
 
 use tracing::{debug, info, warn};
-use zenoh::{Result, Session, Wait, liveliness::LivelinessToken, sample::Sample};
+use zenoh::{Result, Session, Wait, liveliness::LivelinessToken};
 
 #[cfg(feature = "ffi")]
 use crate::ffi::publisher::RawPublisher;
@@ -11,17 +11,19 @@ use crate::{
     cache::ZCacheBuilder,
     context::{GlobalCounter, RemapRules},
     dynamic::{
-        DynamicMessage, DynamicSerdeCdrSerdes, MessageSchema, TypeDescriptionClient,
-        TypeDescriptionService,
+        DiscoveredTopicSchema, DynPubBuilder, DynSubBuilder, DynamicMessage, DynamicSerdeCdrSerdes,
+        MessageSchema, SchemaDiscovery, TypeDescriptionService, discovered_schema_type_info,
+        schema_type_info,
     },
-    entity::{EntityKind, *},
+    entity::*,
+    extended_type_description_service::ExtendedTypeDescriptionService,
     graph::Graph,
     msg::{ZMessage, ZService},
     parameter::{
         Parameter, ParameterDescriptor, ParameterValue, SetParametersResult,
         service::{ParameterService, ParameterServiceConfig},
     },
-    pubsub::{ZPub, ZPubBuilder, ZSub, ZSubBuilder},
+    pubsub::{ZPubBuilder, ZSubBuilder},
     service::{ZClientBuilder, ZServerBuilder},
 };
 
@@ -50,6 +52,9 @@ pub struct ZNode {
     /// Enabled via `ZNodeBuilder::with_type_description_service()`.
     /// The service uses callback mode and requires no background task.
     type_desc_service: Option<TypeDescriptionService>,
+    /// Optional ros-z-specific extended type description service.
+    /// Enabled via `ZNodeBuilder::with_extended_type_description_service()`.
+    extended_type_desc_service: Option<ExtendedTypeDescriptionService>,
     /// Parameter service providing ROS 2-compatible parameter management.
     /// Enabled by default; disable via `ZNodeBuilder::without_parameters()`.
     parameter_service: Option<ParameterService>,
@@ -77,6 +82,8 @@ pub struct ZNodeBuilder {
     pub(crate) keyexpr_format: ros_z_protocol::KeyExprFormat,
     /// Whether to enable the type description service for this node.
     pub(crate) enable_type_desc_service: bool,
+    /// Whether to enable the extended type description service for this node.
+    pub(crate) enable_extended_type_desc_service: bool,
     /// Whether to enable parameter services for this node (default: true).
     pub(crate) enable_parameters: bool,
     /// Initial parameter overrides applied at declaration time.
@@ -146,6 +153,15 @@ impl ZNodeBuilder {
         self
     }
 
+    /// Enable the ros-z-specific extended type description service for this node.
+    ///
+    /// When enabled, the node exposes `~get_extended_type_description` for
+    /// extended-only schemas such as enums and `Option<T>` fields.
+    pub fn with_extended_type_description_service(mut self) -> Self {
+        self.enable_extended_type_desc_service = true;
+        self
+    }
+
     /// Disable the parameter services for this node.
     ///
     /// By default, every node exposes the standard ROS 2 parameter services
@@ -248,6 +264,22 @@ impl Builder for ZNodeBuilder {
             None
         };
 
+        let extended_type_desc_service = if self.enable_extended_type_desc_service {
+            debug!("[NOD] Creating extended type description service");
+            let service = ExtendedTypeDescriptionService::new(
+                self.session.clone(),
+                &self.name,
+                &self.namespace,
+                id,
+                &self.counter,
+                &self.clock,
+            )?;
+            info!("[NOD] ExtendedTypeDescriptionService created");
+            Some(service)
+        } else {
+            None
+        };
+
         // Create parameter service if enabled (default)
         let parameter_service = if self.enable_parameters {
             debug!("[NOD] Creating parameter service");
@@ -280,6 +312,7 @@ impl Builder for ZNodeBuilder {
             shm_config: self.shm_config,
             keyexpr_format: self.keyexpr_format,
             type_desc_service,
+            extended_type_desc_service,
             parameter_service,
         })
     }
@@ -304,32 +337,27 @@ impl ZNode {
         debug!("[NOD] Creating publisher: topic={}", topic);
         let mut builder = self.create_pub_impl(topic, Some(T::type_info()));
 
-        if let Some(service) = &self.type_desc_service {
-            match T::message_schema() {
-                Some(schema) => {
-                    if let Err(e) = service.register_schema(schema.clone()) {
-                        warn!(
-                            "[NOD] Failed to register static schema {} with type description service: {}",
-                            schema.type_name, e
-                        );
-                    } else {
-                        debug!(
-                            "[NOD] Registered static schema {} with type description service",
-                            schema.type_name
-                        );
-                    }
-
-                    builder = builder.with_dyn_schema(schema);
-                }
-                None => {
-                    debug!(
-                        "[NOD] No static schema provided for {}, skipping type description registration",
-                        std::any::type_name::<T>()
-                    );
-                }
+        match T::message_schema() {
+            Some(schema) => {
+                self.register_schema_with_type_description_service(&schema);
+                builder = builder.with_dyn_schema(schema);
+            }
+            None => {
+                debug!(
+                    "[NOD] No static schema provided for {}, skipping type description registration",
+                    std::any::type_name::<T>()
+                );
             }
         }
 
+        if let Err(e) = T::register_type_extensions(self) {
+            warn!(
+                "[NOD] Failed to register non-standard schema extensions for {}: {}",
+                std::any::type_name::<T>(),
+                e
+            );
+        }
+
         builder
     }
 
@@ -346,11 +374,11 @@ impl ZNode {
         // to allow error handling in the Result type
         let entity = EndpointEntity {
             id: self.counter.increment(),
-            node: self.entity.clone(),
+            node: Some(self.entity.clone()),
+            kind: EndpointKind::Publisher,
             topic: topic.to_string(),
-            kind: EntityKind::Publisher,
             type_info,
-            ..Default::default()
+            qos: Default::default(),
         };
         ZPubBuilder {
             entity,
@@ -394,11 +422,11 @@ impl ZNode {
         // to allow error handling in the Result type
         let entity = EndpointEntity {
             id: self.counter.increment(),
-            node: self.entity.clone(),
+            node: Some(self.entity.clone()),
+            kind: EndpointKind::Subscription,
             topic: topic.to_string(),
-            kind: EntityKind::Subscription,
             type_info,
-            ..Default::default()
+            qos: Default::default(),
         };
         ZSubBuilder {
             entity,
@@ -475,11 +503,11 @@ impl ZNode {
         // to allow error handling in the Result type
         let entity = EndpointEntity {
             id: self.counter.increment(),
-            node: self.entity.clone(),
+            node: Some(self.entity.clone()),
+            kind: EndpointKind::Service,
             topic: name.to_string(),
-            kind: EntityKind::Service,
             type_info,
-            ..Default::default()
+            qos: Default::default(),
         };
         ZServerBuilder {
             entity,
@@ -515,11 +543,11 @@ impl ZNode {
         // to allow error handling in the Result type
         let entity = EndpointEntity {
             id: self.counter.increment(),
-            node: self.entity.clone(),
+            node: Some(self.entity.clone()),
+            kind: EndpointKind::Client,
             topic: name.to_string(),
-            kind: EntityKind::Client,
             type_info,
-            ..Default::default()
+            qos: Default::default(),
         };
         ZClientBuilder {
             entity,
@@ -553,7 +581,7 @@ impl ZNode {
         use zenoh::qos::CongestionControl;
 
         use crate::{
-            entity::{EndpointEntity, EntityKind},
+            entity::{EndpointEntity, EndpointKind},
             topic_name,
         };
 
@@ -565,9 +593,9 @@ impl ZNode {
 
         let entity = EndpointEntity {
             id: self.counter.increment(),
-            node: self.entity.clone(),
+            node: Some(self.entity.clone()),
+            kind: EndpointKind::Publisher,
             topic: qualified_topic.clone(),
-            kind: EntityKind::Publisher,
             type_info: Some(TypeInfo {
                 name: type_name.to_string(),
                 hash: TypeHash::from_rihs_string(type_hash).unwrap_or(TypeHash::zero()),
@@ -626,7 +654,7 @@ impl ZNode {
         F: Fn(&[u8]) + Send + Sync + 'static,
     {
         use crate::{
-            entity::{EndpointEntity, EntityKind},
+            entity::{EndpointEntity, EndpointKind},
             topic_name,
         };
 
@@ -638,9 +666,9 @@ impl ZNode {
 
         let entity = EndpointEntity {
             id: self.counter.increment(),
-            node: self.entity.clone(),
+            node: Some(self.entity.clone()),
+            kind: EndpointKind::Subscription,
             topic: qualified_topic.clone(),
-            kind: EntityKind::Subscription,
             type_info: Some(TypeInfo {
                 name: type_name.to_string(),
                 hash: TypeHash::from_rihs_string(type_hash).unwrap_or(TypeHash::zero()),
@@ -696,6 +724,23 @@ impl ZNode {
         self.type_desc_service.is_some()
     }
 
+    /// Get a reference to this node's extended type description service, if enabled.
+    pub fn extended_type_description_service(&self) -> Option<&ExtendedTypeDescriptionService> {
+        self.extended_type_desc_service.as_ref()
+    }
+
+    /// Get a mutable reference to this node's extended type description service, if enabled.
+    pub fn extended_type_description_service_mut(
+        &mut self,
+    ) -> Option<&mut ExtendedTypeDescriptionService> {
+        self.extended_type_desc_service.as_mut()
+    }
+
+    /// Check if this node has an extended type description service.
+    pub fn has_extended_type_description_service(&self) -> bool {
+        self.extended_type_desc_service.is_some()
+    }
+
     /// Get access to the global counter for entity ID generation.
     pub fn counter(&self) -> &Arc<GlobalCounter> {
         &self.counter
@@ -834,76 +879,42 @@ impl ZNode {
     ///     .field("data", FieldType::String)
     ///     .build()?;
     ///
-    /// let publisher = node.create_dyn_pub("chatter", schema)?;
+    /// let publisher = node.create_dyn_pub("chatter", schema).build()?;
     ///
     /// let mut msg = DynamicMessage::new(publisher.schema());
     /// msg.set("data", "Hello, world!")?;
     /// publisher.publish(&msg)?;
     /// ```
-    pub fn create_dyn_pub(
+    pub fn create_dyn_pub(&self, topic: &str, schema: Arc<MessageSchema>) -> DynPubBuilder {
+        self.register_schema_with_type_description_service(&schema);
+        self.create_dyn_pub_impl(topic, Some(schema_type_info(&schema)), schema)
+    }
+
+    /// Discover the schema that publishers currently expose on a topic.
+    ///
+    /// The topic name is qualified according to the same ROS 2 rules as the
+    /// regular publisher and subscriber builder APIs.
+    pub async fn discover_topic_schema(
         &self,
         topic: &str,
-        schema: Arc<MessageSchema>,
-    ) -> Result<ZPub<DynamicMessage, DynamicSerdeCdrSerdes>> {
-        // Register schema with type description service if enabled
-        if let Some(service) = &self.type_desc_service {
-            if let Err(e) = service.register_schema(schema.clone()) {
-                warn!(
-                    "[NOD] Failed to register schema {} with type description service: {}",
-                    schema.type_name, e
-                );
-            } else {
-                debug!(
-                    "[NOD] Registered schema {} with type description service",
-                    schema.type_name
-                );
-            }
-        }
-
-        // Create TypeInfo from schema for proper key expression matching
-        // Convert ROS 2 canonical name to DDS name
-        // "std_msgs/msg/String" → "std_msgs::msg::dds_::String_"
-        let dds_name = schema
-            .type_name
-            .replace("/msg/", "::msg::dds_::")
-            .replace("/srv/", "::srv::dds_::")
-            .replace("/action/", "::action::dds_::")
-            + "_";
-
-        // Compute type hash and convert to entity::TypeHash format
-        use crate::dynamic::MessageSchemaTypeDescription;
-        let type_hash = match schema.compute_type_hash() {
-            Ok(hash) => {
-                let rihs_string = hash.to_rihs_string();
-                crate::entity::TypeHash::from_rihs_string(&rihs_string)
-                    .unwrap_or_else(crate::entity::TypeHash::zero)
-            }
-            Err(e) => {
-                warn!(
-                    "[NOD] Failed to compute type hash for {}: {}",
-                    schema.type_name, e
-                );
-                crate::entity::TypeHash::zero()
-            }
-        };
-
-        let type_info = Some(crate::entity::TypeInfo {
-            name: dds_name,
-            hash: type_hash,
-        });
-
-        // Build the publisher
-        self.create_pub_impl::<DynamicMessage>(topic, type_info)
-            .with_serdes::<DynamicSerdeCdrSerdes>()
-            .with_dyn_schema(schema)
-            .build()
+        discovery_timeout: Duration,
+    ) -> std::result::Result<DiscoveredTopicSchema, crate::dynamic::DynamicError> {
+        SchemaDiscovery::new(self, discovery_timeout)
+            .discover(topic)
+            .await
     }
 
     /// Create a dynamic subscriber with automatic schema discovery.
     ///
     /// This method queries publishers on the topic for their type description
-    /// and creates a subscriber using the discovered schema. This is useful
-    /// when you don't know the message type at compile time.
+    /// and returns a preconfigured subscriber builder using the discovered
+    /// schema. This is useful when you don't know the message type at compile
+    /// time.
+    ///
+    /// The topic name will be qualified according to ROS 2 rules:
+    /// - Absolute topics (starting with '/') are used as-is
+    /// - Private topics (starting with '~') are expanded to /<namespace>/<node_name>/<topic>
+    /// - Relative topics are expanded to /<namespace>/<topic>
     ///
     /// # Arguments
     ///
@@ -912,19 +923,19 @@ impl ZNode {
     ///
     /// # Returns
     ///
-    /// A tuple of (subscriber, schema) on success. The schema is returned
-    /// so you can use it to create messages or inspect the type.
+    /// A preconfigured dynamic subscriber builder on success.
     ///
     /// # Example
     ///
     /// ```ignore
     /// // Discover schema from publishers and create subscriber
-    /// let (subscriber, schema) = node.create_dyn_sub_auto(
+    /// let subscriber = node.create_dyn_sub_auto(
     ///     "chatter",
     ///     Duration::from_secs(5),
-    /// ).await?;
+    /// ).await?
+    /// .build()?;
     ///
-    /// println!("Discovered type: {}", schema.type_name);
+    /// println!("Discovered type: {}", subscriber.schema().unwrap().type_name);
     ///
     /// // Receive messages
     /// let msg = subscriber.recv()?;
@@ -934,61 +945,27 @@ impl ZNode {
         &self,
         topic: &str,
         discovery_timeout: Duration,
-    ) -> Result<(
-        ZSub<DynamicMessage, Sample, DynamicSerdeCdrSerdes>,
-        Arc<MessageSchema>,
-    )> {
+    ) -> Result<DynSubBuilder> {
         debug!(
             "[NOD] Creating dynamic subscriber with auto-discovery for topic: {}",
             topic
         );
 
-        // Create a TypeDescriptionClient to discover the schema.
-        // Use a short per-attempt timeout (3 s) so that transient Zenoh routing
-        // delays can be recovered by the retry loop inside get_type_description_for_topic
-        // rather than burning the entire discovery_timeout on a single query.
-        let client = TypeDescriptionClient::with_graph(
-            self.session.clone(),
-            self.counter.clone(),
-            self.graph.clone(),
-        )
-        .with_timeout(Duration::from_secs(3));
-
-        // Discover schema from topic publishers
-        let (schema, type_hash) = client
-            .get_type_description_for_topic(topic, discovery_timeout)
+        let discovered = self
+            .discover_topic_schema(topic, discovery_timeout)
             .await
-            .map_err(|e| zenoh::Error::from(format!("Schema discovery failed: {}", e)))?;
+            .map_err(|error| zenoh::Error::from(error.to_string()))?;
 
         info!(
             "[NOD] Discovered schema for topic {}: {} (hash: {})",
-            topic, schema.type_name, type_hash
+            discovered.qualified_topic, discovered.schema.type_name, discovered.type_hash
         );
 
-        // Create TypeInfo from discovered schema for proper key expression matching
-        // Convert ROS 2 canonical name to DDS name
-        // "std_msgs/msg/String" → "std_msgs::msg::dds_::String_"
-        let dds_name = schema
-            .type_name
-            .replace("/msg/", "::msg::dds_::")
-            .replace("/srv/", "::srv::dds_::")
-            .replace("/action/", "::action::dds_::")
-            + "_";
-
-        let type_info = Some(crate::entity::TypeInfo {
-            name: dds_name,
-            hash: crate::entity::TypeHash::from_rihs_string(&type_hash)
-                .unwrap_or_else(crate::entity::TypeHash::zero),
-        });
-
-        // Build the subscriber with the discovered schema
-        let subscriber = self
-            .create_sub_impl::<DynamicMessage>(topic, type_info)
-            .with_serdes::<DynamicSerdeCdrSerdes>()
-            .with_dyn_schema(schema.clone())
-            .build()?;
-
-        Ok((subscriber, schema))
+        Ok(self.create_dyn_sub_impl(
+            topic,
+            Some(discovered_schema_type_info(&discovered)),
+            discovered.schema,
+        ))
     }
 
     /// Create a dynamic subscriber with a known schema.
@@ -1001,6 +978,11 @@ impl ZNode {
     /// * `topic` - The topic name to subscribe to
     /// * `schema` - The message schema for deserialization
     ///
+    /// The topic name will be qualified according to ROS 2 rules:
+    /// - Absolute topics (starting with '/') are used as-is
+    /// - Private topics (starting with '~') are expanded to /<namespace>/<node_name>/<topic>
+    /// - Relative topics are expanded to /<namespace>/<topic>
+    ///
     /// # Example
     ///
     /// ```ignore
@@ -1008,51 +990,49 @@ impl ZNode {
     ///     .field("data", FieldType::String)
     ///     .build()?;
     ///
-    /// let subscriber = node.create_dyn_sub("chatter", schema)?;
+    /// let subscriber = node.create_dyn_sub("chatter", schema).build()?;
     /// let msg = subscriber.recv()?;
     /// ```
-    pub fn create_dyn_sub(
+    pub fn create_dyn_sub(&self, topic: &str, schema: Arc<MessageSchema>) -> DynSubBuilder {
+        self.create_dyn_sub_impl(topic, Some(schema_type_info(&schema)), schema)
+    }
+
+    fn create_dyn_pub_impl(
         &self,
         topic: &str,
+        type_info: Option<crate::entity::TypeInfo>,
         schema: Arc<MessageSchema>,
-    ) -> Result<ZSub<DynamicMessage, Sample, DynamicSerdeCdrSerdes>> {
-        // Create TypeInfo from schema for proper key expression matching
-        // Convert ROS 2 canonical name to DDS name
-        // "std_msgs/msg/String" → "std_msgs::msg::dds_::String_"
-        let dds_name = schema
-            .type_name
-            .replace("/msg/", "::msg::dds_::")
-            .replace("/srv/", "::srv::dds_::")
-            .replace("/action/", "::action::dds_::")
-            + "_";
-
-        // Compute type hash and convert to entity::TypeHash format
-        use crate::dynamic::MessageSchemaTypeDescription;
-        let type_hash = match schema.compute_type_hash() {
-            Ok(hash) => {
-                let rihs_string = hash.to_rihs_string();
-                crate::entity::TypeHash::from_rihs_string(&rihs_string)
-                    .unwrap_or_else(crate::entity::TypeHash::zero)
-            }
-            Err(e) => {
-                warn!(
-                    "[NOD] Failed to compute type hash for {}: {}",
-                    schema.type_name, e
-                );
-                crate::entity::TypeHash::zero()
-            }
-        };
-
-        let type_info = Some(crate::entity::TypeInfo {
-            name: dds_name,
-            hash: type_hash,
-        });
+    ) -> DynPubBuilder {
+        self.create_pub_impl::<DynamicMessage>(topic, type_info)
+            .with_serdes::<DynamicSerdeCdrSerdes>()
+            .with_dyn_schema(schema)
+    }
 
-        // Build the subscriber with proper type info
+    fn create_dyn_sub_impl(
+        &self,
+        topic: &str,
+        type_info: Option<crate::entity::TypeInfo>,
+        schema: Arc<MessageSchema>,
+    ) -> DynSubBuilder {
         self.create_sub_impl::<DynamicMessage>(topic, type_info)
             .with_serdes::<DynamicSerdeCdrSerdes>()
             .with_dyn_schema(schema)
-            .build()
+    }
+
+    fn register_schema_with_type_description_service(&self, schema: &Arc<MessageSchema>) {
+        if let Some(service) = &self.type_desc_service {
+            if let Err(error) = service.register_schema(Arc::clone(schema)) {
+                warn!(
+                    "[NOD] Failed to register schema {} with type description service: {}",
+                    schema.type_name, error
+                );
+            } else {
+                debug!(
+                    "[NOD] Registered schema {} with type description service",
+                    schema.type_name
+                );
+            }
+        }
     }
 }
 
@@ -1062,11 +1042,14 @@ mod tests {
 
     #[test]
     fn test_node_entity_name_namespace() {
-        let entity = NodeEntity {
-            name: "my_node".to_string(),
-            namespace: "/my_ns".to_string(),
-            ..Default::default()
-        };
+        let entity = NodeEntity::new(
+            0,
+            "1234567890abcdef1234567890abcdef".parse().unwrap(),
+            0,
+            "my_node".to_string(),
+            "/my_ns".to_string(),
+            String::new(),
+        );
         assert_eq!(entity.name, "my_node");
         assert_eq!(entity.namespace, "/my_ns");
     }
diff --git a/crates/ros-z/src/parameter/client.rs b/crates/ros-z/src/parameter/client.rs
index e4bc7992..174e04cf 100644
--- a/crates/ros-z/src/parameter/client.rs
+++ b/crates/ros-z/src/parameter/client.rs
@@ -135,12 +135,12 @@ impl ParameterClient {
 
     /// Describe remote parameters by name.
     pub async fn describe(&self, names: &[impl AsRef<str>]) -> Result<Vec<ParameterDescriptor>> {
-        self.describe_client
-            .send_request(&DescribeParametersRequest {
+        let response = self
+            .describe_client
+            .call(&DescribeParametersRequest {
                 names: names.iter().map(|name| name.as_ref().to_string()).collect(),
             })
             .await?;
-        let response = self.describe_client.async_take_response().await?;
         Ok(response
             .descriptors
             .iter()
@@ -150,12 +150,12 @@ impl ParameterClient {
 
     /// Fetch remote parameter values by name.
     pub async fn get(&self, names: &[impl AsRef<str>]) -> Result<Vec<ParameterValue>> {
-        self.get_client
-            .send_request(&GetParametersRequest {
+        let response = self
+            .get_client
+            .call(&GetParametersRequest {
                 names: names.iter().map(|name| name.as_ref().to_string()).collect(),
             })
             .await?;
-        let response = self.get_client.async_take_response().await?;
         Ok(response
             .values
             .iter()
@@ -165,12 +165,12 @@ impl ParameterClient {
 
     /// Fetch remote parameter types by name.
     pub async fn get_types(&self, names: &[impl AsRef<str>]) -> Result<Vec<ParameterType>> {
-        self.get_types_client
-            .send_request(&GetParameterTypesRequest {
+        let response = self
+            .get_types_client
+            .call(&GetParameterTypesRequest {
                 names: names.iter().map(|name| name.as_ref().to_string()).collect(),
             })
             .await?;
-        let response = self.get_types_client.async_take_response().await?;
         Ok(response
             .types
             .into_iter()
@@ -184,8 +184,9 @@ impl ParameterClient {
         prefixes: &[impl AsRef<str>],
         depth: Option<u64>,
     ) -> Result<ParameterList> {
-        self.list_client
-            .send_request(&ListParametersRequest {
+        let response = self
+            .list_client
+            .call(&ListParametersRequest {
                 prefixes: prefixes
                     .iter()
                     .map(|prefix| prefix.as_ref().to_string())
@@ -193,7 +194,6 @@ impl ParameterClient {
                 depth: depth.unwrap_or(DEPTH_RECURSIVE),
             })
             .await?;
-        let response = self.list_client.async_take_response().await?;
         Ok(ParameterList {
             names: response.result.names,
             prefixes: response.result.prefixes,
@@ -202,12 +202,12 @@ impl ParameterClient {
 
     /// Set one or more remote parameters non-atomically.
     pub async fn set(&self, parameters: &[Parameter]) -> Result<Vec<SetParametersResult>> {
-        self.set_client
-            .send_request(&SetParametersRequest {
+        let response = self
+            .set_client
+            .call(&SetParametersRequest {
                 parameters: parameters.iter().map(Parameter::to_wire).collect(),
             })
             .await?;
-        let response = self.set_client.async_take_response().await?;
         Ok(response
             .results
             .into_iter()
@@ -220,12 +220,12 @@ impl ParameterClient {
 
     /// Set remote parameters atomically.
     pub async fn set_atomically(&self, parameters: &[Parameter]) -> Result<SetParametersResult> {
-        self.set_atomically_client
-            .send_request(&SetParametersAtomicallyRequest {
+        let response = self
+            .set_atomically_client
+            .call(&SetParametersAtomicallyRequest {
                 parameters: parameters.iter().map(Parameter::to_wire).collect(),
             })
             .await?;
-        let response = self.set_atomically_client.async_take_response().await?;
         Ok(SetParametersResult {
             successful: response.result.successful,
             reason: response.result.reason,
diff --git a/crates/ros-z/src/parameter/service.rs b/crates/ros-z/src/parameter/service.rs
index 334eb3a6..fd2b1d9f 100644
--- a/crates/ros-z/src/parameter/service.rs
+++ b/crates/ros-z/src/parameter/service.rs
@@ -24,7 +24,7 @@ use crate::{
     Builder, ServiceTypeInfo,
     attachment::Attachment,
     context::GlobalCounter,
-    entity::{EndpointEntity, EntityKind, NodeEntity, TypeInfo},
+    entity::{EndpointEntity, EndpointKind, NodeEntity, TypeInfo},
     msg::{SerdeCdrSerdes, ZDeserializer, ZSerializer},
     pubsub::{ZPub, ZPubBuilder},
     qos::{QosDurability, QosHistory, QosProfile, QosReliability},
@@ -284,11 +284,11 @@ impl ParameterService {
         let make_entity =
             |counter: &GlobalCounter, service_name: &str, type_info: TypeInfo| EndpointEntity {
                 id: counter.increment(),
-                node: node_entity.clone(),
-                kind: EntityKind::Service,
+                node: Some(node_entity.clone()),
+                kind: EndpointKind::Service,
                 topic: service_name.to_string(),
                 type_info: Some(type_info),
-                ..Default::default()
+                qos: Default::default(),
             };
 
         let ke_format = ros_z_protocol::KeyExprFormat::default();
@@ -296,8 +296,8 @@ impl ParameterService {
         // ── /parameter_events publisher ───────────────────────────────────────
         let pub_entity = EndpointEntity {
             id: counter.increment(),
-            node: node_entity.clone(),
-            kind: EntityKind::Publisher,
+            node: Some(node_entity.clone()),
+            kind: EndpointKind::Publisher,
             topic: "/parameter_events".to_string(),
             type_info: Some(parameter_event_type_info()),
             qos: {
diff --git a/crates/ros-z/src/prelude.rs b/crates/ros-z/src/prelude.rs
index e90413cb..f0b76bec 100644
--- a/crates/ros-z/src/prelude.rs
+++ b/crates/ros-z/src/prelude.rs
@@ -24,7 +24,7 @@ pub use crate::Builder;
 pub use crate::context::{ZContext, ZContextBuilder};
 pub use crate::node::ZNode;
 pub use crate::pubsub::{ZPub, ZSub};
-pub use crate::service::{QueryKey, ZClient, ZServer};
+pub use crate::service::{RequestId, ServiceReply, ServiceRequest, ZClient, ZServer};
 
 pub use crate::action::server::{Accepted, Executing, Requested};
 /// Action types.
@@ -39,7 +39,10 @@ pub use crate::qos::{
 pub use crate::action::ZAction;
 
 /// Trait bounds for custom messages and services.
-pub use crate::ros_msg::{ActionTypeInfo, MessageTypeInfo, ServiceTypeInfo, WithTypeInfo};
+pub use crate::{
+    ExtendedMessageTypeInfo,
+    ros_msg::{ActionTypeInfo, MessageTypeInfo, ServiceTypeInfo, WithTypeInfo},
+};
 
 /// Type identity helpers for custom message definitions.
 pub use crate::entity::{TypeHash, TypeInfo};
diff --git a/crates/ros-z/src/pubsub.rs b/crates/ros-z/src/pubsub.rs
index 4b109e5c..f6e75c15 100644
--- a/crates/ros-z/src/pubsub.rs
+++ b/crates/ros-z/src/pubsub.rs
@@ -102,7 +102,7 @@ impl<T, S> ZPubBuilder<T, S> {
     /// let provider = Arc::new(ShmProviderBuilder::new(20 * 1024 * 1024).build()?);
     /// let config = ShmConfig::new(provider).with_threshold(5_000);
     ///
-    /// let pub = node.create_pub::<ros_z_msgs::std_msgs::String>("topic")
+    /// let publisher = node.create_pub::<ros_z_msgs::std_msgs::String>("topic")
     ///     .with_shm_config(config)
     ///     .build()?;
     /// # Ok(())
@@ -126,7 +126,7 @@ impl<T, S> ZPubBuilder<T, S> {
     /// # let ctx = ros_z::context::ZContextBuilder::default().with_shm_enabled()?.build()?;
     /// # let node = ctx.create_node("test").build()?;
     /// // Context has SHM enabled, but disable for this publisher
-    /// let pub = node.create_pub::<ros_z_msgs::std_msgs::String>("small_messages")
+    /// let publisher = node.create_pub::<ros_z_msgs::std_msgs::String>("small_messages")
     ///     .without_shm()
     ///     .build()?;
     /// # Ok(())
@@ -172,7 +172,7 @@ impl<T, S> ZPubBuilder<T, S> {
     /// # let ctx = ros_z::context::ZContextBuilder::default().build()?;
     /// # let node = ctx.create_node("test").build()?;
     /// // Publish with Protobuf encoding
-    /// let pub = node.create_pub::<ros_z_msgs::geometry_msgs::Point>("/topic")
+    /// let publisher = node.create_pub::<ros_z_msgs::geometry_msgs::Point>("/topic")
     ///     .with_encoding(Encoding::protobuf().with_schema("geometry_msgs/msg/Point"))
     ///     .build()?;
     /// # Ok(())
@@ -199,35 +199,10 @@ impl<T, S> ZPubBuilder<T, S> {
     ///     .build()?;
     /// ```
     pub fn with_dyn_schema(mut self, schema: Arc<crate::dynamic::schema::MessageSchema>) -> Self {
-        use crate::dynamic::MessageSchemaTypeDescription;
-
         // Only compute and set type_info if it hasn't been set already
         // (e.g., from create_dyn_sub_auto which provides the publisher's hash)
         if self.entity.type_info.is_none() {
-            // Compute TypeInfo from schema for proper key expression matching with ROS 2
-            // Convert ROS 2 canonical name to DDS name
-            // "std_msgs/msg/String" → "std_msgs::msg::dds_::String_"
-            let dds_name = schema
-                .type_name
-                .replace("/msg/", "::msg::dds_::")
-                .replace("/srv/", "::srv::dds_::")
-                .replace("/action/", "::action::dds_::")
-                + "_";
-
-            // Convert schema TypeHash to entity TypeHash via RIHS string
-            let type_hash = match schema.compute_type_hash() {
-                Ok(hash) => {
-                    let rihs_string = hash.to_rihs_string();
-                    crate::entity::TypeHash::from_rihs_string(&rihs_string)
-                        .unwrap_or_else(crate::entity::TypeHash::zero)
-                }
-                Err(_) => crate::entity::TypeHash::zero(),
-            };
-
-            self.entity.type_info = Some(crate::entity::TypeInfo {
-                name: dds_name,
-                hash: type_hash,
-            });
+            self.entity.type_info = Some(crate::dynamic::schema_type_info(&schema));
         }
 
         self.dyn_schema = Some(schema);
@@ -248,13 +223,13 @@ where
         qos_durability = ?self.entity.qos.durability
     ))]
     fn build(mut self) -> Result<Self::Output> {
+        let Some(node) = self.entity.node.as_ref() else {
+            return Err(zenoh::Error::from("publisher build requires node identity"));
+        };
         // Qualify the topic name according to ROS 2 rules
-        let qualified_topic = topic_name::qualify_topic_name(
-            &self.entity.topic,
-            &self.entity.node.namespace,
-            &self.entity.node.name,
-        )
-        .map_err(|e| zenoh::Error::from(format!("Failed to qualify topic: {}", e)))?;
+        let qualified_topic =
+            topic_name::qualify_topic_name(&self.entity.topic, &node.namespace, &node.name)
+                .map_err(|e| zenoh::Error::from(format!("Failed to qualify topic: {}", e)))?;
 
         self.entity.topic = qualified_topic.clone();
         debug!("[PUB] Qualified topic: {}", qualified_topic);
@@ -660,35 +635,10 @@ where
     ///     .build()?;
     /// ```
     pub fn with_dyn_schema(mut self, schema: Arc<crate::dynamic::schema::MessageSchema>) -> Self {
-        use crate::dynamic::MessageSchemaTypeDescription;
-
         // Only compute and set type_info if it hasn't been set already
         // (e.g., from create_dyn_sub_auto which provides the publisher's hash)
         if self.entity.type_info.is_none() {
-            // Compute TypeInfo from schema for proper key expression matching with ROS 2
-            // Convert ROS 2 canonical name to DDS name
-            // "std_msgs/msg/String" → "std_msgs::msg::dds_::String_"
-            let dds_name = schema
-                .type_name
-                .replace("/msg/", "::msg::dds_::")
-                .replace("/srv/", "::srv::dds_::")
-                .replace("/action/", "::action::dds_::")
-                + "_";
-
-            // Convert schema TypeHash to entity TypeHash via RIHS string
-            let type_hash = match schema.compute_type_hash() {
-                Ok(hash) => {
-                    let rihs_string = hash.to_rihs_string();
-                    crate::entity::TypeHash::from_rihs_string(&rihs_string)
-                        .unwrap_or_else(crate::entity::TypeHash::zero)
-                }
-                Err(_) => crate::entity::TypeHash::zero(),
-            };
-
-            self.entity.type_info = Some(crate::entity::TypeInfo {
-                name: dds_name,
-                hash: type_hash,
-            });
+            self.entity.type_info = Some(crate::dynamic::schema_type_info(&schema));
         }
 
         self.dyn_schema = Some(schema);
@@ -713,12 +663,14 @@ where
     where
         F: Fn(Sample) + Send + Sync + 'static,
     {
-        let qualified_topic = crate::topic_name::qualify_topic_name(
-            &self.entity.topic,
-            &self.entity.node.namespace,
-            &self.entity.node.name,
-        )
-        .map_err(|e| zenoh::Error::from(format!("Failed to qualify topic: {}", e)))?;
+        let Some(node) = self.entity.node.as_ref() else {
+            return Err(zenoh::Error::from(
+                "subscriber build requires node identity",
+            ));
+        };
+        let qualified_topic =
+            crate::topic_name::qualify_topic_name(&self.entity.topic, &node.namespace, &node.name)
+                .map_err(|e| zenoh::Error::from(format!("Failed to qualify topic: {}", e)))?;
 
         self.entity.topic = qualified_topic.clone();
         debug!("[CACHE] Qualified topic: {}", qualified_topic);
@@ -754,12 +706,14 @@ where
     where
         S: ZDeserializer,
     {
-        let qualified_topic = topic_name::qualify_topic_name(
-            &self.entity.topic,
-            &self.entity.node.namespace,
-            &self.entity.node.name,
-        )
-        .map_err(|e| zenoh::Error::from(format!("Failed to qualify topic: {}", e)))?;
+        let Some(node) = self.entity.node.as_ref() else {
+            return Err(zenoh::Error::from(
+                "subscriber build requires node identity",
+            ));
+        };
+        let qualified_topic =
+            topic_name::qualify_topic_name(&self.entity.topic, &node.namespace, &node.name)
+                .map_err(|e| zenoh::Error::from(format!("Failed to qualify topic: {}", e)))?;
 
         self.entity.topic = qualified_topic.clone();
         debug!("[SUB] Qualified topic: {}", qualified_topic);
@@ -1270,8 +1224,12 @@ mod tests {
     #[test]
     fn test_endpoint_entity_topic_field() {
         let entity = ros_z_protocol::entity::EndpointEntity {
+            id: 0,
+            node: None,
+            kind: ros_z_protocol::entity::EndpointKind::Publisher,
             topic: "/my_topic".to_string(),
-            ..Default::default()
+            type_info: None,
+            qos: Default::default(),
         };
         assert_eq!(entity.topic, "/my_topic");
     }
diff --git a/crates/ros-z/src/ros_msg.rs b/crates/ros-z/src/ros_msg.rs
index 0c6caa6a..720cec5b 100644
--- a/crates/ros-z/src/ros_msg.rs
+++ b/crates/ros-z/src/ros_msg.rs
@@ -47,6 +47,15 @@ pub trait MessageTypeInfo {
         None
     }
 
+    /// Register any non-standard schema discovery hooks for this type on the node.
+    ///
+    /// Core ros-z keeps the standard type-description path separate, so the
+    /// default implementation is a no-op. Extended schema derives override this
+    /// to register with ros-z's parallel extended type description service.
+    fn register_type_extensions(_node: &crate::node::ZNode) -> std::result::Result<(), String> {
+        Ok(())
+    }
+
     // === Dynamic Methods (Runtime) ===
 
     /// Returns the ROS message type name at runtime
diff --git a/crates/ros-z/src/service.rs b/crates/ros-z/src/service.rs
index 39a15a25..7d6777fc 100644
--- a/crates/ros-z/src/service.rs
+++ b/crates/ros-z/src/service.rs
@@ -1,19 +1,15 @@
 #![allow(unused)]
 
 use std::{
-    collections::HashMap,
     marker::PhantomData,
-    sync::{Arc, atomic::AtomicUsize},
+    sync::{Arc, Mutex, atomic::AtomicUsize},
     time::Duration,
 };
 
 use serde::Deserialize;
 use tracing::{debug, error, info, trace, warn};
 use zenoh::{
-    Result, Session, Wait, bytes,
-    key_expr::KeyExpr,
-    liveliness::LivelinessToken,
-    query::{Query, Reply},
+    Result, Session, Wait, bytes, key_expr::KeyExpr, liveliness::LivelinessToken, query::Query,
     sample::Sample,
 };
 
@@ -45,13 +41,10 @@ pub struct ZClientBuilder<T> {
 impl_with_type_info!(ZClientBuilder<T>);
 impl_with_type_info!(ZServerBuilder<T>);
 
-/// A ROS 2-style service client that sends typed requests and receives typed responses.
+/// A ROS 2-style reusable service handle for typed request/response calls.
 ///
 /// Create a client via [`ZNode::create_client`](crate::node::ZNode::create_client).
-/// Send a request with [`send_request`](ZClient::send_request) (async), then retrieve
-/// the response with [`take_response`](ZClient::take_response) (non-blocking),
-/// [`take_response_timeout`](ZClient::take_response_timeout) (waits up to a deadline),
-/// or [`async_take_response`](ZClient::async_take_response) (async wait).
+/// Invoke the service with [`call`](ZClient::call) or [`call_or_timeout`](ZClient::call_or_timeout).
 ///
 /// # Example
 ///
@@ -60,8 +53,7 @@ impl_with_type_info!(ZServerBuilder<T>);
 /// use std::time::Duration;
 ///
 /// // client: ZClient<MyService>
-/// client.send_request(&request).await?;
-/// let response = client.take_response_timeout(Duration::from_secs(5))?;
+/// let response = client.call_or_timeout(&request, Duration::from_secs(5)).await?;
 /// ```
 pub struct ZClient<T: ZService> {
     // TODO: replace this with the sample sn
@@ -70,10 +62,12 @@ pub struct ZClient<T: ZService> {
     gid: GidArray,
     inner: zenoh::query::Querier<'static>,
     lv_token: LivelinessToken,
-    tx: flume::Sender<Sample>,
-    pub(crate) rx: flume::Receiver<Sample>,
     topic: String,
     clock: crate::time::ZClock,
+    #[cfg(feature = "rmw")]
+    completed_tx: flume::Sender<Sample>,
+    #[cfg(feature = "rmw")]
+    completed_rx: flume::Receiver<Sample>,
     _phantom_data: PhantomData<T>,
 }
 
@@ -95,13 +89,13 @@ where
         service = %self.entity.topic
     ))]
     fn build(mut self) -> Result<Self::Output> {
+        let Some(node) = self.entity.node.as_ref() else {
+            return Err(zenoh::Error::from("client build requires node identity"));
+        };
         // Qualify the service name according to ROS 2 rules
-        let qualified_service = topic_name::qualify_service_name(
-            &self.entity.topic,
-            &self.entity.node.namespace,
-            &self.entity.node.name,
-        )
-        .map_err(|e| zenoh::Error::from(format!("Failed to qualify service: {}", e)))?;
+        let qualified_service =
+            topic_name::qualify_service_name(&self.entity.topic, &node.namespace, &node.name)
+                .map_err(|e| zenoh::Error::from(format!("Failed to qualify service: {}", e)))?;
 
         self.entity.topic = qualified_service.clone();
         debug!("[CLN] Qualified service: {}", qualified_service);
@@ -125,12 +119,14 @@ where
             .liveliness()
             .declare_token((*lv_ke).clone())
             .wait()?;
-        // Use bounded channel based on QoS depth
-        let depth = match self.entity.qos.history {
-            ros_z_protocol::qos::QosHistory::KeepLast(n) => n,
-            ros_z_protocol::qos::QosHistory::KeepAll => 1000, // Default reasonable limit for KeepAll
+        #[cfg(feature = "rmw")]
+        let (completed_tx, completed_rx) = {
+            let depth = match self.entity.qos.history {
+                ros_z_protocol::qos::QosHistory::KeepLast(n) => n,
+                ros_z_protocol::qos::QosHistory::KeepAll => 1000,
+            };
+            flume::bounded(depth)
         };
-        let (tx, rx) = flume::bounded(depth);
         debug!("[CLN] Client ready: service={}", self.entity.topic);
 
         Ok(ZClient {
@@ -138,10 +134,12 @@ where
             inner,
             lv_token,
             gid: crate::entity::endpoint_gid(&self.entity),
-            tx,
-            rx,
             topic: self.entity.topic.clone(),
             clock: self.clock,
+            #[cfg(feature = "rmw")]
+            completed_tx,
+            #[cfg(feature = "rmw")]
+            completed_rx,
             _phantom_data: Default::default(),
         })
     }
@@ -159,69 +157,73 @@ where
         )
     }
 
-    /// Access the raw response receiver channel.
-    pub fn rx(&self) -> &flume::Receiver<Sample> {
-        &self.rx
-    }
+    async fn call_sample(&self, payload: impl Into<bytes::ZBytes>) -> Result<Sample> {
+        let attachment = self.new_attachment();
+        let (response_tx, response_rx) = tokio::sync::oneshot::channel();
+        let response_tx = Arc::new(Mutex::new(Some(response_tx)));
 
-    pub fn take_sample(&self) -> Result<Sample> {
-        match self.rx.try_recv() {
-            Ok(sample) => Ok(sample),
-            Err(flume::TryRecvError::Empty) => Err("No sample available".into()),
-            Err(flume::TryRecvError::Disconnected) => Err("Channel disconnected".into()),
-        }
-    }
+        self.inner
+            .get()
+            .payload(payload)
+            .attachment(attachment)
+            .callback(move |reply| match reply.into_result() {
+                Ok(sample) => {
+                    let sender = response_tx
+                        .lock()
+                        .expect("service reply sender mutex poisoned")
+                        .take();
+                    match sender {
+                        Some(sender) => {
+                            if sender.send(sample).is_err() {
+                                tracing::warn!(
+                                    "Service call receiver dropped before reply delivery"
+                                );
+                            }
+                        }
+                        None => {
+                            tracing::warn!("Service call received extra reply after completion");
+                        }
+                    }
+                }
+                Err(error) => {
+                    tracing::debug!("Service reply error: {error:?}");
+                }
+            })
+            .await?;
 
-    pub fn take_sample_timeout(&self, timeout: Duration) -> Result<Sample> {
-        Ok(self.rx.recv_timeout(timeout)?)
-    }
+        let sample = response_rx.await.map_err(|_| {
+            zenoh::Error::from("Service call ended before any response was received")
+        })?;
 
-    /// Retrieve the next response without blocking.
-    ///
-    /// Returns `Err` immediately if no response has arrived yet. Use
-    /// [`take_response_timeout`](ZClient::take_response_timeout) to wait up to a
-    /// deadline, or [`async_take_response`](ZClient::async_take_response) to await
-    /// indefinitely in an async context.
-    // For ROS-Z
-    pub fn take_response(&self) -> Result<T::Response>
-    where
-        T::Response: ZMessage,
-        for<'a> <T::Response as ZMessage>::Serdes:
-            ZDeserializer<Output = T::Response, Input<'a> = &'a [u8]>,
-    {
-        let sample = self.take_sample()?;
-        let msg = <T::Response as ZMessage>::deserialize(&sample.payload().to_bytes())
-            .map_err(|e| zenoh::Error::from(e.to_string()))?;
-        Ok(msg)
+        Ok(sample)
     }
 
-    /// Wait for the next response, up to `timeout`. Returns `Err` if no response
-    /// arrives within the deadline.
-    pub fn take_response_timeout(&self, timeout: Duration) -> Result<T::Response>
+    /// Call the service and wait indefinitely for the first reply.
+    pub async fn call(&self, msg: &T::Request) -> Result<T::Response>
     where
+        T::Request: ZMessage,
         T::Response: ZMessage,
         for<'a> <T::Response as ZMessage>::Serdes:
             ZDeserializer<Output = T::Response, Input<'a> = &'a [u8]>,
     {
-        let sample = self.take_sample_timeout(timeout)?;
+        let sample = self.call_sample(msg.serialize()).await?;
         let payload_bytes = sample.payload().to_bytes();
         let msg = <T::Response as ZMessage>::deserialize(&payload_bytes[..])
             .map_err(|e| zenoh::Error::from(e.to_string()))?;
         Ok(msg)
     }
-    /// Asynchronously wait for the next response. Awaits indefinitely until a
-    /// response arrives or the channel is disconnected.
-    pub async fn async_take_response(&self) -> Result<T::Response>
+
+    /// Call the service and fail if no reply arrives before `timeout` elapses.
+    pub async fn call_or_timeout(&self, msg: &T::Request, timeout: Duration) -> Result<T::Response>
     where
+        T::Request: ZMessage,
         T::Response: ZMessage,
         for<'a> <T::Response as ZMessage>::Serdes:
             ZDeserializer<Output = T::Response, Input<'a> = &'a [u8]>,
     {
-        let sample = self.rx.recv_async().await?;
-        let payload_bytes = sample.payload().to_bytes();
-        let msg = <T::Response as ZMessage>::deserialize(&payload_bytes[..])
-            .map_err(|e| zenoh::Error::from(e.to_string()))?;
-        Ok(msg)
+        tokio::time::timeout(timeout, self.call(msg))
+            .await
+            .map_err(|_| zenoh::Error::from(format!("Service call timed out after {timeout:?}")))?
     }
 }
 
@@ -229,66 +231,17 @@ impl<T> ZClient<T>
 where
     T: ZService,
 {
-    /// Send a typed request to the service server.
-    ///
-    /// This is an `async fn` — it must be `.await`ed. The call resolves once the
-    /// Zenoh query is dispatched; it does **not** wait for a response. Retrieve the
-    /// response separately with [`take_response`](ZClient::take_response),
-    /// [`take_response_timeout`](ZClient::take_response_timeout), or
-    /// [`async_take_response`](ZClient::async_take_response).
-    ///
-    /// Succeeds even when no server is running (fire-and-forget dispatch).
-    #[tracing::instrument(name = "send_request", skip(self, msg), fields(
+    #[cfg(feature = "rmw")]
+    #[tracing::instrument(name = "rmw_send_request", skip(self, msg, notify), fields(
         service = %self.topic,
         sn = self.sn.load(Ordering::Acquire),
         payload_len = tracing::field::Empty
     ))]
-    pub async fn send_request(&self, msg: &T::Request) -> Result<()> {
-        let payload = msg.serialize();
-        tracing::Span::current().record("payload_len", payload.len());
-
-        // Log the key expression being queried
-        let query_ke = self.inner.key_expr();
-        info!("[CLN] Sending request to key expression: {}", query_ke);
-        debug!("[CLN] Sending request");
-
-        let tx = self.tx.clone();
-        self.inner
-            .get()
-            .payload(payload)
-            .attachment(self.new_attachment())
-            .callback(move |reply| {
-                match reply.into_result() {
-                    Ok(sample) => {
-                        info!(
-                            "[CLN] Reply received: len={}, kind={:?}",
-                            sample.payload().len(),
-                            sample.kind()
-                        );
-                        debug!("[CLN] Reply received: len={}", sample.payload().len());
-                        // Use try_send for bounded channel - if full, drop the response (QoS depth enforcement)
-                        if tx.try_send(sample).is_err() {
-                            tracing::warn!(
-                                "Client response queue full, dropping response (QoS depth enforced)"
-                            );
-                        }
-                    }
-                    Err(e) => {
-                        warn!("[CLN] Reply error: {:?}", e);
-                    }
-                }
-            })
-            .await?;
-
-        Ok(())
-    }
-
-    #[cfg(feature = "rmw")]
     pub fn rmw_send_request<F>(&self, msg: &T::Request, notify: F) -> Result<i64>
     where
         F: Fn() + Send + Sync + 'static,
     {
-        let tx = self.tx.clone();
+        let completed_tx = self.completed_tx.clone();
         let attachment = self.new_attachment();
         let sn = attachment.sequence_number;
         self.inner
@@ -298,8 +251,7 @@ where
             .callback(move |reply| {
                 match reply.into_result() {
                     Ok(sample) => {
-                        // Use try_send for bounded channel - if full, drop the response (QoS depth enforcement)
-                        if tx.try_send(sample).is_err() {
+                        if completed_tx.try_send(sample).is_err() {
                             tracing::warn!(
                                 "Client response queue full, dropping response (QoS depth enforced)"
                             );
@@ -316,6 +268,22 @@ where
             .wait()?;
         Ok(sn)
     }
+
+    #[cfg(feature = "rmw")]
+    pub fn rmw_try_take_response_sample(&self) -> Result<Option<Sample>> {
+        match self.completed_rx.try_recv() {
+            Ok(sample) => Ok(Some(sample)),
+            Err(flume::TryRecvError::Empty) => Ok(None),
+            Err(flume::TryRecvError::Disconnected) => {
+                Err(zenoh::Error::from("Client response channel disconnected"))
+            }
+        }
+    }
+
+    #[cfg(feature = "rmw")]
+    pub fn rmw_has_responses(&self) -> bool {
+        !self.completed_rx.is_empty()
+    }
 }
 
 #[derive(Debug)]
@@ -354,17 +322,11 @@ impl<T> ZServerBuilder<T> {
 }
 
 pub struct ZServer<T: ZService, Q = Query> {
-    // NOTE: This is biased toward RMW
     key_expr: KeyExpr<'static>,
-    // TODO: replace this with the sample sn
-    sn: AtomicUsize,
-    // TODO: replace this with zenoh's global entity id
-    gid: GidArray,
     inner: zenoh::query::Queryable<()>,
     lv_token: LivelinessToken,
     clock: crate::time::ZClock,
     pub(crate) queue: Option<Arc<BoundedQueue<Q>>>,
-    pub(crate) map: HashMap<QueryKey, Query>,
     _phantom_data: PhantomData<T>,
 }
 
@@ -396,16 +358,6 @@ where
     pub fn try_queue(&self) -> Option<&Arc<BoundedQueue<Q>>> {
         self.queue.as_ref()
     }
-
-    /// Number of pending queries stored in the response map.
-    pub fn map_len(&self) -> usize {
-        self.map.len()
-    }
-
-    /// Insert a query into the response map, returning any previously stored query for that key.
-    pub fn map_insert(&mut self, key: QueryKey, query: Query) -> Option<Query> {
-        self.map.insert(key, query)
-    }
 }
 
 impl<T> ZServerBuilder<T>
@@ -418,12 +370,12 @@ where
         handler: DataHandler<Query>,
         queue: Option<Arc<BoundedQueue<Q>>>,
     ) -> Result<ZServer<T, Q>> {
-        let qualified_service = topic_name::qualify_service_name(
-            &self.entity.topic,
-            &self.entity.node.namespace,
-            &self.entity.node.name,
-        )
-        .map_err(|e| zenoh::Error::from(format!("Failed to qualify service: {}", e)))?;
+        let Some(node) = self.entity.node.as_ref() else {
+            return Err(zenoh::Error::from("service build requires node identity"));
+        };
+        let qualified_service =
+            topic_name::qualify_service_name(&self.entity.topic, &node.namespace, &node.name)
+                .map_err(|e| zenoh::Error::from(format!("Failed to qualify service: {}", e)))?;
 
         self.entity.topic = qualified_service;
 
@@ -472,13 +424,10 @@ where
 
         Ok(ZServer {
             key_expr,
-            sn: AtomicUsize::new(1), // Start at 1 for ROS compatibility
             inner,
             lv_token,
             clock: self.clock,
-            gid: crate::entity::endpoint_gid(&self.entity),
             queue,
-            map: HashMap::new(),
             _phantom_data: Default::default(),
         })
     }
@@ -527,36 +476,94 @@ where
 }
 
 #[derive(Debug, PartialEq, Eq, Hash, Clone)]
-pub struct QueryKey {
-    pub sn: i64,
-    pub gid: GidArray,
+pub struct RequestId {
+    pub sequence_number: i64,
+    pub writer_guid: GidArray,
 }
 
-impl From<Attachment> for QueryKey {
+impl From<Attachment> for RequestId {
     fn from(value: Attachment) -> Self {
         Self {
-            sn: value.sequence_number,
-            gid: value.source_gid,
+            sequence_number: value.sequence_number,
+            writer_guid: value.source_gid,
         }
     }
 }
 
+pub struct ServiceReply<T: ZService> {
+    request_id: RequestId,
+    key_expr: KeyExpr<'static>,
+    query: Query,
+    clock: crate::time::ZClock,
+    _phantom_data: PhantomData<T>,
+}
+
+impl<T: ZService> ServiceReply<T> {
+    pub fn id(&self) -> &RequestId {
+        &self.request_id
+    }
+
+    pub fn reply_blocking(self, msg: &T::Response) -> Result<()> {
+        let attachment = Attachment::with_clock(
+            self.request_id.sequence_number,
+            self.request_id.writer_guid,
+            &self.clock,
+        );
+        self.query
+            .reply(&self.key_expr, msg.serialize())
+            .attachment(attachment)
+            .wait()
+    }
+
+    pub async fn reply(self, msg: &T::Response) -> Result<()> {
+        let attachment = Attachment::with_clock(
+            self.request_id.sequence_number,
+            self.request_id.writer_guid,
+            &self.clock,
+        );
+        self.query
+            .reply(&self.key_expr, msg.serialize())
+            .attachment(attachment)
+            .await
+    }
+}
+
+pub struct ServiceRequest<T: ZService> {
+    message: T::Request,
+    reply: ServiceReply<T>,
+}
+
+impl<T: ZService> ServiceRequest<T> {
+    pub fn id(&self) -> &RequestId {
+        self.reply.id()
+    }
+
+    pub fn message(&self) -> &T::Request {
+        &self.message
+    }
+
+    pub fn into_message(self) -> T::Request {
+        self.message
+    }
+
+    pub fn into_parts(self) -> (T::Request, ServiceReply<T>) {
+        (self.message, self.reply)
+    }
+
+    pub fn reply_blocking(self, response: &T::Response) -> Result<()> {
+        self.reply.reply_blocking(response)
+    }
+
+    pub async fn reply(self, response: &T::Response) -> Result<()> {
+        self.reply.reply(response).await
+    }
+}
+
 impl<T> ZServer<T, Query>
 where
     T: ZService,
 {
-    fn new_attachment(&self) -> Attachment {
-        Attachment::with_clock(
-            self.sn.fetch_add(1, Ordering::AcqRel) as _,
-            self.gid,
-            &self.clock,
-        )
-    }
-
-    /// Retrieve the next query on the service without deserializing the payload.
-    ///
-    /// This method is useful when custom deserialization logic is needed.
-    pub fn take_query(&self) -> Result<Query> {
+    fn take_query(&self) -> Result<Query> {
         let queue = self.queue.as_ref().ok_or_else(|| {
             zenoh::Error::from("Server was built with callback, no queue available")
         })?;
@@ -565,6 +572,52 @@ where
             .ok_or_else(|| zenoh::Error::from("No query available"))
     }
 
+    fn decode_request(&self, query: Query) -> Result<ServiceRequest<T>>
+    where
+        T::Request: ZMessage + Send + Sync + 'static,
+        for<'a> <T::Request as ZMessage>::Serdes:
+            ZDeserializer<Output = T::Request, Input<'a> = &'a [u8]>,
+    {
+        let attachment_bytes = query
+            .attachment()
+            .ok_or_else(|| zenoh::Error::from("Service request missing attachment"))?;
+        let attachment: Attachment = attachment_bytes.try_into()?;
+        let request_id: RequestId = attachment.into();
+
+        let payload_bytes = query
+            .payload()
+            .map(|payload| payload.to_bytes())
+            .unwrap_or_default();
+        let message = <T::Request as ZMessage>::deserialize(&payload_bytes[..])
+            .map_err(|e| zenoh::Error::from(e.to_string()))?;
+
+        Ok(ServiceRequest {
+            message,
+            reply: ServiceReply {
+                request_id,
+                key_expr: self.key_expr.clone(),
+                query,
+                clock: self.clock.clone(),
+                _phantom_data: PhantomData,
+            },
+        })
+    }
+
+    pub fn try_take_request(&mut self) -> Result<Option<ServiceRequest<T>>>
+    where
+        T::Request: ZMessage + Send + Sync + 'static,
+        for<'a> <T::Request as ZMessage>::Serdes:
+            ZDeserializer<Output = T::Request, Input<'a> = &'a [u8]>,
+    {
+        let queue = self.queue.as_ref().ok_or_else(|| {
+            zenoh::Error::from("Server was built with callback, no queue available")
+        })?;
+        match queue.try_recv() {
+            Some(query) => self.decode_request(query).map(Some),
+            None => Ok(None),
+        }
+    }
+
     /// Blocks waiting to receive the next request on the service and then deserializes the payload.
     ///
     /// This method may fail if the message does not deserialize as the requested type.
@@ -573,7 +626,7 @@ where
         sn = tracing::field::Empty,
         payload_len = tracing::field::Empty
     ))]
-    pub fn take_request(&mut self) -> Result<(QueryKey, T::Request)>
+    pub fn take_request(&mut self) -> Result<ServiceRequest<T>>
     where
         T::Request: ZMessage + Send + Sync + 'static,
         for<'a> <T::Request as ZMessage>::Serdes:
@@ -585,32 +638,13 @@ where
             zenoh::Error::from("Server was built with callback, no queue available")
         })?;
         let query = queue.recv();
-        let attachment: Attachment = query.attachment().unwrap().try_into()?;
-        let key: QueryKey = attachment.into();
-
-        tracing::Span::current().record("sn", key.sn);
-
-        let payload_bytes = query.payload().unwrap().to_bytes();
-        tracing::Span::current().record("payload_len", payload_bytes.len());
-
-        if self.map.contains_key(&key) {
-            warn!("[SRV] Duplicate request: sn={}", key.sn);
-            return Err("Existing query detected".into());
-        }
-
-        debug!("[SRV] Processing request");
-
-        let msg = <T::Request as ZMessage>::deserialize(&payload_bytes[..])
-            .map_err(|e| zenoh::Error::from(e.to_string()))?;
-        self.map.insert(key.clone(), query);
-
-        Ok((key, msg))
+        self.decode_request(query)
     }
 
     /// Awaits the next request on the service and then deserializes the payload.
     ///
     /// This method may fail if the message does not deserialize as the requested type.
-    pub async fn async_take_request(&mut self) -> Result<(QueryKey, T::Request)>
+    pub async fn async_take_request(&mut self) -> Result<ServiceRequest<T>>
     where
         T::Request: ZMessage + Send + Sync + 'static,
         for<'a> <T::Request as ZMessage>::Serdes:
@@ -620,70 +654,7 @@ where
             zenoh::Error::from("Server was built with callback, no queue available")
         })?;
         let query = queue.recv_async().await;
-        let attachment: Attachment = query.attachment().unwrap().try_into()?;
-        let key: QueryKey = attachment.into();
-        if self.map.contains_key(&key) {
-            return Err("Existing query detected".into());
-        }
-        let payload_bytes = query.payload().unwrap().to_bytes();
-        let msg = <T::Request as ZMessage>::deserialize(&payload_bytes[..])
-            .map_err(|e| zenoh::Error::from(e.to_string()))?;
-        self.map.insert(key.clone(), query);
-
-        Ok((key, msg))
-    }
-
-    /// Blocks sending the response to a service request.
-    ///
-    /// - `msg` is the response message to send.
-    /// - `key` is the query key of the request to reply to and is obtained from [take_request](Self::take_request) or [async_take_request](Self::async_take_request)
-    #[tracing::instrument(name = "send_response", skip(self, msg), fields(
-        service = %self.key_expr,
-        sn = %key.sn,
-        payload_len = tracing::field::Empty
-    ))]
-    pub fn send_response(&mut self, msg: &T::Response, key: &QueryKey) -> Result<()> {
-        debug!(
-            "[SRV] Looking for query with key sn:{}, gid:{:?}",
-            key.sn, key.gid
-        );
-        match self.map.remove(key) {
-            Some(query) => {
-                let payload = msg.serialize();
-                tracing::Span::current().record("payload_len", payload.len());
-
-                debug!("[SRV] Sending response");
-
-                // Use the sequence number and GID from the request
-                let attachment = Attachment::with_clock(key.sn, key.gid, &self.clock);
-                query
-                    .reply(&self.key_expr, payload)
-                    .attachment(attachment)
-                    .wait()
-            }
-            None => {
-                error!("[SRV] No query found for sn={}", key.sn);
-                Err("Query map doesn't contain key".into())
-            }
-        }
-    }
-
-    /// Awaits sending the response to a service request.
-    ///
-    /// - `msg` is the response message to send.
-    /// - `key` is the query key of the request to reply to and is obtained from [take_request](Self::take_request) or [async_take_request](Self::async_take_request)
-    pub async fn async_send_response(&mut self, msg: &T::Response, key: &QueryKey) -> Result<()> {
-        match self.map.remove(key) {
-            Some(query) => {
-                // Use the sequence number and GID from the request
-                let attachment = Attachment::with_clock(key.sn, key.gid, &self.clock);
-                query
-                    .reply(&self.key_expr, msg.serialize())
-                    .attachment(attachment)
-                    .await
-            }
-            None => Err("Quey map doesn't contains {key}".into()),
-        }
+        self.decode_request(query)
     }
 }
 
@@ -752,14 +723,14 @@ mod tests {
     }
 
     #[test]
-    fn test_query_key_clone_and_eq() {
-        let key = crate::service::QueryKey {
-            gid: [1u8; 16],
-            sn: 42,
+    fn test_request_id_clone_and_eq() {
+        let key = crate::service::RequestId {
+            writer_guid: [1u8; 16],
+            sequence_number: 42,
         };
         let key2 = key.clone();
-        assert_eq!(key.sn, key2.sn);
-        assert_eq!(key.gid, key2.gid);
+        assert_eq!(key.sequence_number, key2.sequence_number);
+        assert_eq!(key.writer_guid, key2.writer_guid);
     }
 
     #[test]
diff --git a/crates/ros-z/src/shm.rs b/crates/ros-z/src/shm.rs
index ee3645de..84ab38f9 100644
--- a/crates/ros-z/src/shm.rs
+++ b/crates/ros-z/src/shm.rs
@@ -49,7 +49,7 @@
 //! let provider = Arc::new(ShmProviderBuilder::new(20_000_000).build()?);
 //! let config = ShmConfig::new(provider).with_threshold(10_000);
 //!
-//! let pub = node.create_pub::<ros_z_msgs::std_msgs::ByteMultiArray>("topic")
+//! let publisher = node.create_pub::<ros_z_msgs::std_msgs::ByteMultiArray>("topic")
 //!     .with_shm_config(config)
 //!     .build()?;
 //! # Ok(())
@@ -128,6 +128,7 @@ impl ShmConfig {
     ///
     /// ```rust,no_run
     /// use ros_z::shm::{ShmConfig, ShmProviderBuilder};
+    /// use ros_z::Builder;
     /// use std::sync::Arc;
     ///
     /// # fn main() -> ros_z::Result<()> {
diff --git a/crates/ros-z/tests/extended_message_type_info.rs b/crates/ros-z/tests/extended_message_type_info.rs
new file mode 100644
index 00000000..65a5f802
--- /dev/null
+++ b/crates/ros-z/tests/extended_message_type_info.rs
@@ -0,0 +1,383 @@
+use std::time::Duration;
+
+use ros_z::{
+    Builder, ExtendedMessageTypeInfo, MessageTypeInfo,
+    context::ZContextBuilder,
+    dynamic::{DynamicValue, EnumPayloadValue},
+};
+use serde::{Deserialize, Serialize};
+use zenoh::Wait;
+use zenoh::config::WhatAmI;
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, ros_z::ExtendedMessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/msg/TelemetryLite")]
+struct TelemetryLite {
+    label: String,
+    temperatures: Vec<f32>,
+}
+
+impl ros_z::msg::ZMessage for TelemetryLite {
+    type Serdes = ros_z::msg::SerdeCdrSerdes<Self>;
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, ros_z::ExtendedMessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/msg/RobotState")]
+enum RobotState {
+    Idle,
+    Error(String),
+    Charging { minutes_remaining: u32 },
+}
+
+impl ros_z::msg::ZMessage for RobotState {
+    type Serdes = ros_z::msg::SerdeCdrSerdes<Self>;
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, ros_z::ExtendedMessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/msg/RobotEnvelope")]
+struct RobotEnvelope {
+    label: String,
+    mission_id: Option<u32>,
+    state: RobotState,
+}
+
+impl ros_z::msg::ZMessage for RobotEnvelope {
+    type Serdes = ros_z::msg::SerdeCdrSerdes<Self>;
+}
+
+struct TestRouter {
+    endpoint: String,
+    _session: zenoh::Session,
+}
+
+impl TestRouter {
+    fn new() -> Self {
+        let port = {
+            let listener =
+                std::net::TcpListener::bind("127.0.0.1:0").expect("failed to bind port 0");
+            listener.local_addr().unwrap().port()
+        };
+
+        let endpoint = format!("tcp/127.0.0.1:{port}");
+        let mut config = zenoh::Config::default();
+        config.set_mode(Some(WhatAmI::Router)).unwrap();
+        config
+            .insert_json5("listen/endpoints", &format!("[\"{endpoint}\"]"))
+            .unwrap();
+        config
+            .insert_json5("scouting/multicast/enabled", "false")
+            .unwrap();
+
+        let session = zenoh::open(config)
+            .wait()
+            .expect("failed to open test router");
+        std::thread::sleep(Duration::from_millis(300));
+
+        Self {
+            endpoint,
+            _session: session,
+        }
+    }
+
+    fn endpoint(&self) -> &str {
+        &self.endpoint
+    }
+}
+
+fn create_context_with_router(router: &TestRouter) -> ros_z::Result<ros_z::context::ZContext> {
+    ZContextBuilder::default()
+        .disable_multicast_scouting()
+        .with_connect_endpoints([router.endpoint()])
+        .build()
+}
+
+#[test]
+fn extended_derive_keeps_standard_schema_for_compatible_structs() {
+    let schema = TelemetryLite::message_schema().expect("standard-compatible schema");
+    assert!(!schema.uses_extended_types());
+    assert_eq!(schema.type_name, "custom_msgs/msg/TelemetryLite");
+
+    let extended = TelemetryLite::extended_message_schema();
+    assert_eq!(extended.type_name, schema.type_name);
+    assert!(!extended.uses_extended_types());
+
+    assert!(
+        RobotEnvelope::message_schema().is_none(),
+        "extended-only structs should not expose a standard schema"
+    );
+    assert!(
+        RobotState::message_schema().is_none(),
+        "extended enums should not expose a standard schema"
+    );
+}
+
+#[tokio::test(flavor = "multi_thread", worker_threads = 2)]
+async fn fallback_discovery_uses_standard_service_for_compatible_extended_types() {
+    let router = TestRouter::new();
+
+    let pub_ctx = create_context_with_router(&router).expect("publisher context");
+    let pub_node = pub_ctx
+        .create_node("telemetry_talker")
+        .with_type_description_service()
+        .build()
+        .expect("publisher node");
+
+    let publisher = pub_node
+        .create_pub::<TelemetryLite>("/extended_standard_topic")
+        .build()
+        .expect("publisher");
+
+    let registered = pub_node
+        .type_description_service()
+        .expect("standard type description service")
+        .get_schema("custom_msgs/msg/TelemetryLite")
+        .expect("schema lookup");
+    assert!(
+        registered.is_some(),
+        "standard-compatible schema should register"
+    );
+
+    let sub_ctx = create_context_with_router(&router).expect("subscriber context");
+    let sub_node = sub_ctx
+        .create_node("telemetry_listener")
+        .build()
+        .expect("subscriber node");
+
+    let publish_task = tokio::spawn(async move {
+        for _ in 0..20 {
+            let msg = TelemetryLite {
+                label: "robot-7".to_string(),
+                temperatures: vec![20.0, 20.5],
+            };
+            publisher.publish(&msg).expect("publish");
+            tokio::time::sleep(Duration::from_millis(100)).await;
+        }
+    });
+
+    tokio::time::sleep(Duration::from_millis(400)).await;
+
+    let subscriber = sub_node
+        .create_dyn_sub_auto("/extended_standard_topic", Duration::from_secs(10))
+        .await
+        .expect("fallback dynamic subscriber")
+        .build()
+        .expect("subscriber build");
+    let schema = subscriber.schema().expect("discovered schema");
+
+    assert_eq!(schema.type_name, "custom_msgs/msg/TelemetryLite");
+    assert!(!schema.uses_extended_types());
+
+    let message = subscriber
+        .recv_timeout(Duration::from_secs(3))
+        .expect("dynamic message");
+    assert_eq!(
+        message.get::<String>("label").unwrap(),
+        "robot-7".to_string()
+    );
+
+    publish_task.await.expect("publisher task");
+}
+
+#[tokio::test(flavor = "multi_thread", worker_threads = 2)]
+async fn extended_only_types_require_explicit_extended_service_enablement() {
+    let router = TestRouter::new();
+
+    let pub_ctx = create_context_with_router(&router).expect("publisher context");
+    let pub_node = pub_ctx
+        .create_node("extended_talker")
+        .build()
+        .expect("publisher node");
+
+    let publisher = pub_node
+        .create_pub::<RobotEnvelope>("/extended_robot_topic")
+        .build()
+        .expect("publisher");
+
+    let sub_ctx = create_context_with_router(&router).expect("subscriber context");
+    let sub_node = sub_ctx
+        .create_node("extended_listener")
+        .build()
+        .expect("subscriber node");
+
+    let publish_task = tokio::spawn(async move {
+        for _ in 0..20 {
+            let msg = RobotEnvelope {
+                label: "robot-9".to_string(),
+                mission_id: Some(42),
+                state: RobotState::Charging {
+                    minutes_remaining: 12,
+                },
+            };
+            publisher.publish(&msg).expect("publish");
+            tokio::time::sleep(Duration::from_millis(100)).await;
+        }
+    });
+
+    tokio::time::sleep(Duration::from_millis(400)).await;
+
+    let result = sub_node
+        .create_dyn_sub_auto("/extended_robot_topic", Duration::from_secs(3))
+        .await;
+    assert!(
+        result.is_err(),
+        "extended discovery should fail when the publisher did not enable the extended service"
+    );
+
+    publish_task.await.expect("publisher task");
+}
+
+#[tokio::test(flavor = "multi_thread", worker_threads = 2)]
+async fn extended_only_types_use_extended_service_when_enabled() {
+    let router = TestRouter::new();
+
+    let pub_ctx = create_context_with_router(&router).expect("publisher context");
+    let pub_node = pub_ctx
+        .create_node("extended_talker")
+        .with_extended_type_description_service()
+        .build()
+        .expect("publisher node");
+
+    let publisher = pub_node
+        .create_pub::<RobotEnvelope>("/extended_robot_topic")
+        .build()
+        .expect("publisher");
+
+    assert!(
+        pub_node.type_description_service().is_none(),
+        "extended-only discovery should not require the standard type description service"
+    );
+    let extended_schema = pub_node
+        .extended_type_description_service()
+        .expect("extended type description service")
+        .get_schema("custom_msgs/msg/RobotEnvelope")
+        .expect("schema lookup");
+    assert!(extended_schema.is_some(), "extended schema should register");
+
+    let sub_ctx = create_context_with_router(&router).expect("subscriber context");
+    let sub_node = sub_ctx
+        .create_node("extended_listener")
+        .build()
+        .expect("subscriber node");
+
+    let publish_task = tokio::spawn(async move {
+        for _ in 0..20 {
+            let msg = RobotEnvelope {
+                label: "robot-9".to_string(),
+                mission_id: Some(42),
+                state: RobotState::Charging {
+                    minutes_remaining: 12,
+                },
+            };
+            publisher.publish(&msg).expect("publish");
+            tokio::time::sleep(Duration::from_millis(100)).await;
+        }
+    });
+
+    tokio::time::sleep(Duration::from_millis(400)).await;
+
+    let subscriber = sub_node
+        .create_dyn_sub_auto("/extended_robot_topic", Duration::from_secs(10))
+        .await
+        .expect("extended fallback subscriber")
+        .build()
+        .expect("subscriber build");
+    let schema = subscriber.schema().expect("discovered schema");
+
+    assert!(schema.uses_extended_types());
+    assert_eq!(schema.type_name, "custom_msgs/msg/RobotEnvelope");
+
+    let message = subscriber
+        .recv_timeout(Duration::from_secs(3))
+        .expect("dynamic message");
+    assert_eq!(
+        message.get::<String>("label").unwrap(),
+        "robot-9".to_string()
+    );
+
+    match message.get_dynamic("mission_id").expect("mission_id") {
+        DynamicValue::Optional(Some(value)) => {
+            assert_eq!(value.as_ref().as_u32(), Some(42));
+        }
+        other => panic!("expected Some mission_id, got {other:?}"),
+    }
+
+    match message.get_dynamic("state").expect("state") {
+        DynamicValue::Enum(value) => {
+            assert_eq!(value.variant_name, "Charging");
+            match value.payload {
+                EnumPayloadValue::Struct(fields) => {
+                    assert_eq!(fields.len(), 1);
+                    assert_eq!(fields[0].name, "minutes_remaining");
+                    assert_eq!(fields[0].value.as_u32(), Some(12));
+                }
+                other => panic!("expected struct payload, got {other:?}"),
+            }
+        }
+        other => panic!("expected enum value, got {other:?}"),
+    }
+
+    publish_task.await.expect("publisher task");
+}
+
+#[tokio::test(flavor = "multi_thread", worker_threads = 2)]
+async fn top_level_enums_are_discoverable_through_the_extended_service() {
+    let router = TestRouter::new();
+
+    let pub_ctx = create_context_with_router(&router).expect("publisher context");
+    let pub_node = pub_ctx
+        .create_node("state_talker")
+        .with_extended_type_description_service()
+        .build()
+        .expect("publisher node");
+
+    let publisher = pub_node
+        .create_pub::<RobotState>("/robot_state_topic")
+        .build()
+        .expect("publisher");
+
+    let sub_ctx = create_context_with_router(&router).expect("subscriber context");
+    let sub_node = sub_ctx
+        .create_node("state_listener")
+        .build()
+        .expect("subscriber node");
+
+    let publish_task = tokio::spawn(async move {
+        for _ in 0..20 {
+            publisher
+                .publish(&RobotState::Error("battery low".to_string()))
+                .expect("publish");
+            tokio::time::sleep(Duration::from_millis(100)).await;
+        }
+    });
+
+    tokio::time::sleep(Duration::from_millis(400)).await;
+
+    let subscriber = sub_node
+        .create_dyn_sub_auto("/robot_state_topic", Duration::from_secs(10))
+        .await
+        .expect("extended enum discovery")
+        .build()
+        .expect("subscriber build");
+    let schema = subscriber.schema().expect("discovered schema");
+
+    assert_eq!(schema.field_count(), 1);
+    assert_eq!(schema.field("value").unwrap().name, "value");
+
+    let message = subscriber
+        .recv_timeout(Duration::from_secs(3))
+        .expect("dynamic message");
+
+    match message.get_dynamic("value").expect("enum value") {
+        DynamicValue::Enum(value) => {
+            assert_eq!(value.variant_name, "Error");
+            match value.payload {
+                EnumPayloadValue::Newtype(value) => {
+                    assert_eq!(value.as_ref().as_str(), Some("battery low"));
+                }
+                other => panic!("expected newtype payload, got {other:?}"),
+            }
+        }
+        other => panic!("expected enum field, got {other:?}"),
+    }
+
+    publish_task.await.expect("publisher task");
+}
diff --git a/crates/ros-z/tests/graph.rs b/crates/ros-z/tests/graph.rs
index 49658fe2..8ee363a3 100644
--- a/crates/ros-z/tests/graph.rs
+++ b/crates/ros-z/tests/graph.rs
@@ -15,7 +15,6 @@ use ros_z::{
     entity::{EntityKind, NodeKey},
 };
 use ros_z_msgs::{example_interfaces::srv::AddTwoInts, std_msgs::String as RosString};
-
 /// Helper to create a test context and node
 async fn setup_test_node(
     node_name: &str,
@@ -74,7 +73,6 @@ async fn wait_for_subscribers(
 #[cfg(test)]
 mod tests {
     use super::*;
-
     /// Tests getting topic names and types from the graph
     #[tokio::test(flavor = "multi_thread")]
     async fn test_get_topic_names_and_types() -> Result<()> {
@@ -678,6 +676,44 @@ mod tests {
         Ok(())
     }
 
+    /// Tests that a Ros2Dds context uses a Ros2Dds graph for introspection and matching.
+    #[cfg(feature = "ros2dds")]
+    #[tokio::test(flavor = "multi_thread")]
+    async fn test_ros2dds_context_graph_tracks_local_entities() -> Result<()> {
+        let ctx = ZContextBuilder::default()
+            .keyexpr_format(ros_z_protocol::KeyExprFormat::Ros2Dds)
+            .build()?;
+        let pub_node = ctx.create_node("test_graph_pub_dds").build()?;
+        let sub_node = ctx.create_node("test_graph_sub_dds").build()?;
+        let topic_name = "/test_ros2dds_context_graph";
+
+        let publisher = pub_node.create_pub::<RosString>(topic_name).build()?;
+        let subscriber = sub_node.create_sub::<RosString>(topic_name).build()?;
+
+        assert!(
+            publisher
+                .wait_for_subscription(1, Duration::from_secs(2))
+                .await
+        );
+        assert!(
+            subscriber
+                .wait_for_publisher(1, Duration::from_secs(2))
+                .await
+        );
+
+        let graph = ctx.graph();
+        assert!(
+            graph.count(EntityKind::Publisher, topic_name) >= 1,
+            "Expected Ros2Dds graph to discover local publisher"
+        );
+        assert!(
+            graph.count(EntityKind::Subscription, topic_name) >= 1,
+            "Expected Ros2Dds graph to discover local subscriber"
+        );
+
+        Ok(())
+    }
+
     /// Tests getting action names and types from the graph
     #[tokio::test(flavor = "multi_thread")]
     async fn test_action_names_and_types() -> Result<()> {
diff --git a/crates/ros-z/tests/message_type_info_derive.rs b/crates/ros-z/tests/message_type_info_derive.rs
new file mode 100644
index 00000000..160b0177
--- /dev/null
+++ b/crates/ros-z/tests/message_type_info_derive.rs
@@ -0,0 +1,213 @@
+use std::time::Duration;
+
+use ros_z::{
+    Builder, MessageTypeInfo, TypeHash,
+    context::ZContextBuilder,
+    dynamic::{FieldType, MessageSchemaTypeDescription},
+};
+use serde::{Deserialize, Serialize};
+use zenoh::Wait;
+use zenoh::config::WhatAmI;
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, ros_z::MessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/msg/Position2D")]
+struct Position2D {
+    x: f64,
+    y: f64,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, ros_z::MessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/msg/RobotTelemetry")]
+struct RobotTelemetry {
+    label: String,
+    pose: Position2D,
+    temperatures: Vec<f32>,
+    flags: [bool; 2],
+    payload: Vec<u8>,
+}
+
+impl ros_z::msg::ZMessage for RobotTelemetry {
+    type Serdes = ros_z::msg::SerdeCdrSerdes<Self>;
+}
+
+struct TestRouter {
+    endpoint: String,
+    _session: zenoh::Session,
+}
+
+impl TestRouter {
+    fn new() -> Self {
+        let port = {
+            let listener =
+                std::net::TcpListener::bind("127.0.0.1:0").expect("failed to bind port 0");
+            listener.local_addr().unwrap().port()
+        };
+
+        let endpoint = format!("tcp/127.0.0.1:{port}");
+        let mut config = zenoh::Config::default();
+        config.set_mode(Some(WhatAmI::Router)).unwrap();
+        config
+            .insert_json5("listen/endpoints", &format!("[\"{endpoint}\"]"))
+            .unwrap();
+        config
+            .insert_json5("scouting/multicast/enabled", "false")
+            .unwrap();
+
+        let session = zenoh::open(config)
+            .wait()
+            .expect("failed to open test router");
+        std::thread::sleep(Duration::from_millis(300));
+
+        Self {
+            endpoint,
+            _session: session,
+        }
+    }
+
+    fn endpoint(&self) -> &str {
+        &self.endpoint
+    }
+}
+
+fn create_context_with_router(router: &TestRouter) -> ros_z::Result<ros_z::context::ZContext> {
+    ZContextBuilder::default()
+        .disable_multicast_scouting()
+        .with_connect_endpoints([router.endpoint()])
+        .build()
+}
+
+#[test]
+fn derive_generates_type_info_and_schema() {
+    let schema = RobotTelemetry::message_schema().expect("schema should be generated");
+
+    assert_eq!(
+        RobotTelemetry::type_name(),
+        "custom_msgs::msg::dds_::RobotTelemetry_"
+    );
+    assert_eq!(schema.type_name, "custom_msgs/msg/RobotTelemetry");
+    assert_eq!(schema.field_count(), 5);
+
+    let label = schema.field("label").expect("label field");
+    assert!(matches!(label.field_type, FieldType::String));
+
+    let pose = schema.field("pose").expect("pose field");
+    match &pose.field_type {
+        FieldType::Message(nested) => {
+            assert_eq!(nested.type_name, "custom_msgs/msg/Position2D");
+            assert_eq!(nested.field_count(), 2);
+        }
+        other => panic!("expected nested message field, got {:?}", other),
+    }
+
+    let temperatures = schema.field("temperatures").expect("temperatures field");
+    match &temperatures.field_type {
+        FieldType::Sequence(inner) => {
+            assert!(matches!(inner.as_ref(), FieldType::Float32));
+        }
+        other => panic!("expected sequence field, got {:?}", other),
+    }
+
+    let flags = schema.field("flags").expect("flags field");
+    match &flags.field_type {
+        FieldType::Array(inner, len) => {
+            assert_eq!(*len, 2);
+            assert!(matches!(inner.as_ref(), FieldType::Bool));
+        }
+        other => panic!("expected fixed array field, got {:?}", other),
+    }
+
+    let payload = schema.field("payload").expect("payload field");
+    match &payload.field_type {
+        FieldType::Sequence(inner) => {
+            assert!(matches!(inner.as_ref(), FieldType::Uint8));
+        }
+        other => panic!("expected byte sequence field, got {:?}", other),
+    }
+
+    let expected_hash = TypeHash::from_rihs_string(
+        &schema
+            .compute_type_hash()
+            .expect("schema hash")
+            .to_rihs_string(),
+    )
+    .expect("valid entity type hash");
+
+    let reported_hash = RobotTelemetry::type_hash();
+    if TypeHash::zero().to_rihs_string() == "TypeHashNotSupported" {
+        assert_eq!(reported_hash, TypeHash::zero());
+    } else {
+        assert_eq!(reported_hash, expected_hash);
+    }
+}
+
+#[tokio::test(flavor = "multi_thread", worker_threads = 2)]
+async fn derived_message_schema_is_auto_registered_and_discoverable() {
+    let router = TestRouter::new();
+
+    let pub_ctx = create_context_with_router(&router).expect("publisher context");
+    let pub_node = pub_ctx
+        .create_node("derived_talker")
+        .with_type_description_service()
+        .build()
+        .expect("publisher node");
+
+    let publisher = pub_node
+        .create_pub::<RobotTelemetry>("/derived_topic")
+        .build()
+        .expect("publisher");
+
+    let registered = pub_node
+        .type_description_service()
+        .expect("type description service")
+        .get_schema("custom_msgs/msg/RobotTelemetry")
+        .expect("query registered schema");
+    assert!(registered.is_some(), "schema should be auto-registered");
+
+    let sub_ctx = create_context_with_router(&router).expect("subscriber context");
+    let sub_node = sub_ctx
+        .create_node("derived_listener")
+        .build()
+        .expect("subscriber node");
+
+    let publish_task = tokio::spawn(async move {
+        for _ in 0..25 {
+            let msg = RobotTelemetry {
+                label: "robot-1".to_string(),
+                pose: Position2D { x: 1.25, y: -2.5 },
+                temperatures: vec![20.5, 21.0, 21.5],
+                flags: [true, false],
+                payload: vec![1, 2, 3, 4],
+            };
+            publisher.publish(&msg).expect("publish");
+            tokio::time::sleep(Duration::from_millis(100)).await;
+        }
+    });
+
+    tokio::time::sleep(Duration::from_millis(400)).await;
+
+    let subscriber = sub_node
+        .create_dyn_sub_auto("/derived_topic", Duration::from_secs(10))
+        .await
+        .expect("dynamic subscriber with auto-discovery")
+        .build()
+        .expect("subscriber build");
+    let discovered_schema = subscriber.schema().expect("discovered schema");
+
+    assert_eq!(
+        discovered_schema.type_name,
+        "custom_msgs/msg/RobotTelemetry"
+    );
+    assert_eq!(discovered_schema.field_count(), 5);
+
+    let msg = subscriber
+        .recv_timeout(Duration::from_secs(3))
+        .expect("received dynamic message");
+    assert_eq!(
+        msg.get::<String>("label").expect("label field"),
+        "robot-1".to_string()
+    );
+    assert_eq!(msg.get::<f64>("pose.x").expect("nested pose.x"), 1.25);
+    assert_eq!(msg.get::<f64>("pose.y").expect("nested pose.y"), -2.5);
+
+    publish_task.await.expect("publisher task");
+}
diff --git a/crates/ros-z/tests/message_type_info_derive_ui.rs b/crates/ros-z/tests/message_type_info_derive_ui.rs
new file mode 100644
index 00000000..15ade070
--- /dev/null
+++ b/crates/ros-z/tests/message_type_info_derive_ui.rs
@@ -0,0 +1,5 @@
+#[test]
+fn message_type_info_rejects_v2_only_shapes() {
+    let cases = trybuild::TestCases::new();
+    cases.compile_fail("tests/ui/message_type_info/*.rs");
+}
diff --git a/crates/ros-z/tests/service.rs b/crates/ros-z/tests/service.rs
index a3d177f8..6888de43 100644
--- a/crates/ros-z/tests/service.rs
+++ b/crates/ros-z/tests/service.rs
@@ -88,15 +88,15 @@ fn test_basic_service_request_response() {
                 .expect("Failed to create server");
 
             // Wait for request
-            let (key, request) = server.take_request().expect("Failed to take request");
-            assert_eq!(request.a, 10);
-            assert_eq!(request.b, 32);
+            let request = server.take_request().expect("Failed to take request");
+            assert_eq!(request.message().a, 10);
+            assert_eq!(request.message().b, 32);
 
             let response = AddTwoIntsResponse {
-                sum: request.a + request.b,
+                sum: request.message().a + request.message().b,
             };
-            server
-                .send_response(&response, &key)
+            request
+                .reply_blocking(&response)
                 .expect("Failed to send response");
         }
     });
@@ -119,13 +119,13 @@ fn test_basic_service_request_response() {
 
             let request = AddTwoIntsRequest { a: 10, b: 32 };
 
-            tokio::runtime::Runtime::new()
+            let response = tokio::runtime::Runtime::new()
                 .unwrap()
-                .block_on(async { client.send_request(&request).await })
-                .expect("Failed to send request");
-
-            let response = client
-                .take_response_timeout(Duration::from_secs(2))
+                .block_on(async {
+                    client
+                        .call_or_timeout(&request, Duration::from_secs(2))
+                        .await
+                })
                 .expect("Failed to receive response");
 
             assert_eq!(response.sum, 42);
@@ -157,17 +157,16 @@ async fn test_async_service_request_response() {
             .expect("Failed to create server");
 
         // Wait for request asynchronously
-        let (key, request) = server
+        let request = server
             .async_take_request()
             .await
             .expect("Failed to take request");
-
         let response = AddTwoIntsResponse {
-            sum: request.a + request.b,
+            sum: request.message().a + request.message().b,
         };
 
-        server
-            .async_send_response(&response, &key)
+        request
+            .reply(&response)
             .await
             .expect("Failed to send response");
     });
@@ -188,13 +187,8 @@ async fn test_async_service_request_response() {
         tokio::time::sleep(Duration::from_millis(100)).await;
 
         let request = AddTwoIntsRequest { a: 100, b: 23 };
-        client
-            .send_request(&request)
-            .await
-            .expect("Failed to send request");
-
         let response = client
-            .async_take_response()
+            .call(&request)
             .await
             .expect("Failed to receive response");
 
@@ -229,15 +223,15 @@ fn test_multiple_service_requests() {
 
             // Handle 3 requests
             for expected_a in [1, 2, 3] {
-                let (key, request) = server.take_request().expect("Failed to take request");
-                assert_eq!(request.a, expected_a);
-                assert_eq!(request.b, 10);
+                let request = server.take_request().expect("Failed to take request");
+                assert_eq!(request.message().a, expected_a);
+                assert_eq!(request.message().b, 10);
 
                 let response = AddTwoIntsResponse {
-                    sum: request.a + request.b,
+                    sum: request.message().a + request.message().b,
                 };
-                server
-                    .send_response(&response, &key)
+                request
+                    .reply_blocking(&response)
                     .expect("Failed to send response");
             }
         }
@@ -265,11 +259,12 @@ fn test_multiple_service_requests() {
             for a in [1, 2, 3] {
                 let request = AddTwoIntsRequest { a, b: 10 };
 
-                rt.block_on(async { client.send_request(&request).await })
-                    .expect("Failed to send request");
-
-                let response = client
-                    .take_response_timeout(Duration::from_secs(2))
+                let response = rt
+                    .block_on(async {
+                        client
+                            .call_or_timeout(&request, Duration::from_secs(2))
+                            .await
+                    })
                     .expect("Failed to receive response");
 
                 assert_eq!(response.sum, a + 10);
diff --git a/crates/ros-z/tests/ui/message_type_info/enum.rs b/crates/ros-z/tests/ui/message_type_info/enum.rs
new file mode 100644
index 00000000..ab597f7b
--- /dev/null
+++ b/crates/ros-z/tests/ui/message_type_info/enum.rs
@@ -0,0 +1,11 @@
+use ros_z::MessageTypeInfo;
+use serde::{Deserialize, Serialize};
+
+#[derive(Debug, Clone, Serialize, Deserialize, MessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/msg/RobotState")]
+enum RobotState {
+    Idle,
+    Error(String),
+}
+
+fn main() {}
diff --git a/crates/ros-z/tests/ui/message_type_info/enum.stderr b/crates/ros-z/tests/ui/message_type_info/enum.stderr
new file mode 100644
index 00000000..ddd5e768
--- /dev/null
+++ b/crates/ros-z/tests/ui/message_type_info/enum.stderr
@@ -0,0 +1,9 @@
+error: MessageTypeInfo derive only supports named structs in v1
+ --> tests/ui/message_type_info/enum.rs:5:1
+  |
+5 | / #[ros_msg(type_name = "custom_msgs/msg/RobotState")]
+6 | | enum RobotState {
+7 | |     Idle,
+8 | |     Error(String),
+9 | | }
+  | |_^
diff --git a/crates/ros-z/tests/ui/message_type_info/option_field.rs b/crates/ros-z/tests/ui/message_type_info/option_field.rs
new file mode 100644
index 00000000..ecf6f2d3
--- /dev/null
+++ b/crates/ros-z/tests/ui/message_type_info/option_field.rs
@@ -0,0 +1,10 @@
+use ros_z::MessageTypeInfo;
+use serde::{Deserialize, Serialize};
+
+#[derive(Debug, Clone, Serialize, Deserialize, MessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/msg/OptionField")]
+struct OptionField {
+    value: Option<u32>,
+}
+
+fn main() {}
diff --git a/crates/ros-z/tests/ui/message_type_info/option_field.stderr b/crates/ros-z/tests/ui/message_type_info/option_field.stderr
new file mode 100644
index 00000000..7da97f16
--- /dev/null
+++ b/crates/ros-z/tests/ui/message_type_info/option_field.stderr
@@ -0,0 +1,5 @@
+error: Option fields are not supported by MessageTypeInfo derive in v1
+ --> tests/ui/message_type_info/option_field.rs:7:12
+  |
+7 |     value: Option<u32>,
+  |            ^^^^^^^^^^^
diff --git a/crates/ros-z/tests/ui/message_type_info/tuple_struct.rs b/crates/ros-z/tests/ui/message_type_info/tuple_struct.rs
new file mode 100644
index 00000000..91346430
--- /dev/null
+++ b/crates/ros-z/tests/ui/message_type_info/tuple_struct.rs
@@ -0,0 +1,8 @@
+use ros_z::MessageTypeInfo;
+use serde::{Deserialize, Serialize};
+
+#[derive(Debug, Clone, Serialize, Deserialize, MessageTypeInfo)]
+#[ros_msg(type_name = "custom_msgs/msg/TupleStatus")]
+struct TupleStatus(f32, f32);
+
+fn main() {}
diff --git a/crates/ros-z/tests/ui/message_type_info/tuple_struct.stderr b/crates/ros-z/tests/ui/message_type_info/tuple_struct.stderr
new file mode 100644
index 00000000..791e13ad
--- /dev/null
+++ b/crates/ros-z/tests/ui/message_type_info/tuple_struct.stderr
@@ -0,0 +1,6 @@
+error: MessageTypeInfo derive does not support tuple structs in v1
+ --> tests/ui/message_type_info/tuple_struct.rs:5:1
+  |
+5 | / #[ros_msg(type_name = "custom_msgs/msg/TupleStatus")]
+6 | | struct TupleStatus(f32, f32);
+  | |_____________________________^