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+ "uhlc",
+ "validated_struct",
+ "zenoh-core",
+ "zenoh-macros",
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+ "hmac",
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+ "zenoh-result",
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+ "rand",
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+ "serde",
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+ "zenoh-link-tcp",
+ "zenoh-link-tls",
+ "zenoh-link-udp",
+ "zenoh-link-unixsock_stream",
+ "zenoh-link-ws",
+ "zenoh-protocol",
+ "zenoh-result",
+]
+
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+ "tracing",
+ "webpki-roots",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-util",
+]
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+ "base64 0.22.1",
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+ "rustls-pki-types",
+ "rustls-webpki",
+ "secrecy",
+ "tokio",
+ "tokio-rustls",
+ "tokio-util",
+ "tracing",
+ "webpki-roots",
+ "x509-parser",
+ "zenoh-collections",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
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+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
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+ "async-trait",
+ "socket2",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
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+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
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+ "base64 0.22.1",
+ "futures",
+ "rustls",
+ "rustls-pemfile",
+ "rustls-pki-types",
+ "rustls-webpki",
+ "secrecy",
+ "socket2",
+ "tokio",
+ "tokio-rustls",
+ "tokio-util",
+ "tracing",
+ "webpki-roots",
+ "x509-parser",
+ "zenoh-collections",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-link-udp"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
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+ "async-trait",
+ "socket2",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-link-unixsock_stream"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
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+ "async-trait",
+ "futures",
+ "nix",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "uuid",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+]
+
+[[package]]
+name = "zenoh-link-ws"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
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+ "async-trait",
+ "futures-util",
+ "tokio",
+ "tokio-tungstenite",
+ "tokio-util",
+ "tracing",
+ "url",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-util",
+]
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+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
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+ "proc-macro2",
+ "quote",
+ "syn 2.0.77",
+ "zenoh-keyexpr",
+]
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+version = "1.0.0"
+dependencies = [
+ "flume",
+ "futures",
+ "futures-util",
+ "git-version",
+ "jsonschema",
+ "lazy_static",
+ "rustc_version",
+ "rustls-pemfile",
+ "schemars",
+ "serde",
+ "serde_json",
+ "tokio",
+ "tokio-rustls",
+ "tokio-tungstenite",
+ "tracing",
+ "ts-rs",
+ "uhlc",
+ "uuid",
+ "zenoh",
+ "zenoh-plugin-trait",
+ "zenoh-result",
+ "zenoh-util",
+ "zenoh_backend_traits",
+]
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+ "serde",
+ "serde_json",
+ "tracing",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+ "zenoh-util",
+]
+
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+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
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+ "rand",
+ "serde",
+ "uhlc",
+ "zenoh-buffers",
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+ "zenoh-keyexpr",
+ "zenoh-result",
+]
+
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+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
+dependencies = [
+ "anyhow",
+]
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+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
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+ "futures",
+ "lazy_static",
+ "libc",
+ "ron",
+ "serde",
+ "tokio",
+ "zenoh-macros",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-sync"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
+dependencies = [
+ "event-listener 5.3.1",
+ "futures",
+ "tokio",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+ "zenoh-runtime",
+]
+
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+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
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+ "futures",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-runtime",
+]
+
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+name = "zenoh-transport"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
+dependencies = [
+ "async-trait",
+ "crossbeam-utils",
+ "flume",
+ "lazy_static",
+ "lz4_flex",
+ "paste",
+ "rand",
+ "ringbuffer-spsc",
+ "rsa",
+ "serde",
+ "sha3",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-collections",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-crypto",
+ "zenoh-link",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-task",
+ "zenoh-util",
+]
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+ "async-trait",
+ "const_format",
+ "flume",
+ "home",
+ "humantime",
+ "lazy_static",
+ "libc",
+ "libloading",
+ "pnet_datalink",
+ "serde",
+ "serde_json",
+ "shellexpand",
+ "tokio",
+ "tracing",
+ "tracing-subscriber",
+ "winapi",
+ "zenoh-core",
+ "zenoh-result",
+]
+
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+name = "zenoh_backend_traits"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e2f366c4391f2b94815837754a2e06fd6ae3dd65"
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+ "async-trait",
+ "const_format",
+ "derive_more",
+ "either",
+ "schemars",
+ "serde_json",
+ "zenoh",
+ "zenoh-plugin-trait",
+ "zenoh-result",
+ "zenoh-util",
+]
+
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+name = "zerocopy"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
+dependencies = [
+ "byteorder",
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.77",
+]
+
+[[package]]
+name = "zeroize"
+version = "1.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ced3678a2879b30306d323f4542626697a464a97c0a07c9aebf7ebca65cd4dde"
diff --git a/zenoh-plugin-remote-api/Cargo.toml b/zenoh-plugin-remote-api/Cargo.toml
new file mode 100644
index 0000000..27b3cbf
--- /dev/null
+++ b/zenoh-plugin-remote-api/Cargo.toml
@@ -0,0 +1,93 @@
+#
+# Copyright (c) 2023 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+#
+[package]
+rust-version = "1.75.0"
+name = "zenoh-plugin-remote-api"
+version = "1.0.0" # Zenoh version
+repository = "https://github.com/zettascalelabs/zenoh-ts"
+homepage = "http://zenoh.io"
+authors = [
+    "Charles Schleich",
+    "Olivier Hécart <olivier.hecart@zettascale.tech>",
+    "Luca Cominardi <luca.cominardi@zettascale.tech>",
+    "Pierre Avital <pierre.avital@zettascale.tech>",
+]
+edition = "2021"
+license = "EPL-2.0 OR Apache-2.0"
+categories = [
+    "network-programming",
+    "web-programming::http-server",
+    "websocket",
+]
+description = "Zenoh: The Zero Overhead Pub/Sub/Query Protocol."
+
+
+[features]
+default = ["dynamic_plugin", "zenoh/default", "zenoh/unstable", "zenoh/plugins"]
+dynamic_plugin = []
+
+[lib]
+name = "zenoh_plugin_remote_api"
+crate-type = ["cdylib", "rlib"]
+
+[dependencies]
+tokio = { version = "1.39.2", features = ["full"] }
+tokio-tungstenite = "0.23.1"
+tokio-rustls = { version = "0.26.0", default-features = false }
+futures-util = "0.3.30"
+rustls-pemfile = "2.1.2"
+
+flume = "0.11"
+futures = "0.3.5"
+git-version = "0.3.5"
+lazy_static = "1.4.0"
+ts-rs = { version = "9.0", features = [
+    "serde-compat",
+    "uuid-impl",
+    "serde-json-impl",
+    "no-serde-warnings"
+] }
+tracing = "0.1"
+schemars = { version = "0.8.12", features = ["either"] }
+serde = { version = "1.0.154", default-features = false, features = [
+    "derive",
+] } # Default features are disabled due to usage in no_std crates
+serde_json = "1.0.114"
+zenoh = { git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = [
+    "plugins",
+], version = "1.0.0-dev" }
+zenoh_backend_traits = { git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", version = "1.0.0-dev" }
+zenoh-plugin-trait = { git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", version = "1.0.0-dev" }
+zenoh-util = { git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", version = "1.0.0-dev" }
+zenoh-result = { git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", version = "1.0.0-dev" }
+uuid = { version = "1.3.0", default-features = false, features = [
+    "v4",
+    "serde",
+] }
+uhlc = { version = "0.8.0", default-features = false } # Default features are disabled due to usage in no_std crates
+
+[build-dependencies]
+rustc_version = "0.4.0"
+schemars = { version = "0.8.12", features = ["either"] }
+serde = { version = "1.0.154", default-features = false, features = ["derive"] }
+serde_json = "1.0.114"
+jsonschema = { version = "0.18.0", default-features = false }
+
+[package.metadata.deb]
+name = "zenoh-plugin-remote-api"
+maintainer = "zenoh-dev@eclipse.org"
+copyright = "2024 ZettaScale Technology"
+section = "net"
+license-file = ["../../LICENSE", "0"]
+depends = "zenohd (=0.11.0-dev-1)"
diff --git a/zenoh-plugin-remote-api/README.md b/zenoh-plugin-remote-api/README.md
new file mode 100644
index 0000000..65a2910
--- /dev/null
+++ b/zenoh-plugin-remote-api/README.md
@@ -0,0 +1,8 @@
+# ⚠️ WARNING ⚠️
+
+This crate is intended for Zenoh's internal use.
+
+- [Click here for Zenoh's main repository](https://github.com/eclipse-zenoh/zenoh)
+- [Click here for Zenoh's documentation](https://zenoh.io)
+
+
diff --git a/zenoh-plugin-remote-api/build.rs b/zenoh-plugin-remote-api/build.rs
new file mode 100644
index 0000000..d890749
--- /dev/null
+++ b/zenoh-plugin-remote-api/build.rs
@@ -0,0 +1,42 @@
+//
+// Copyright (c) 2023 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//
+use schemars::schema_for;
+
+use crate::config::Config;
+
+#[path = "src/config.rs"]
+mod config;
+
+fn main() {
+    // Add rustc version to zenohd
+    let version_meta = rustc_version::version_meta().unwrap();
+    println!(
+        "cargo:rustc-env=RUSTC_VERSION={}",
+        version_meta.short_version_string
+    );
+
+    let schema = serde_json::to_value(schema_for!(Config)).unwrap();
+    // println!("{schema:#?}");
+    let schema = jsonschema::JSONSchema::compile(&schema).unwrap();
+    println!("{schema:#?}");
+    let config = std::fs::read_to_string("config.json5").unwrap();
+    // println!("{config:?}");
+    let config: serde_json::Value = serde_json::from_str(&config).unwrap();
+    // println!("{config:?}");
+
+    if let Err(es) = schema.validate(&config) {
+        let es = es.map(|e| format!("{}", e)).collect::<Vec<_>>().join("\n");
+        panic!("config.json5 schema validation error: {}", es);
+    };
+}
diff --git a/zenoh-plugin-remote-api/config.json5 b/zenoh-plugin-remote-api/config.json5
new file mode 100644
index 0000000..3cdc5f2
--- /dev/null
+++ b/zenoh-plugin-remote-api/config.json5
@@ -0,0 +1,7 @@
+{
+      "websocket_port": "10000",
+      "secure_websocket": {
+            "certificate_path" : "/path/to/certificate",
+            "private_key_path" : "/path/to/private_key"
+      }
+}
\ No newline at end of file
diff --git a/zenoh-plugin-remote-api/config_schema.json5 b/zenoh-plugin-remote-api/config_schema.json5
new file mode 100644
index 0000000..c373bec
--- /dev/null
+++ b/zenoh-plugin-remote-api/config_schema.json5
@@ -0,0 +1,36 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Config",
+  "type": "object",
+  "required": [
+    "websocket_port"
+  ],
+  "properties": {
+    "__config__": {
+      "type": [
+        "string",
+        "null"
+      ]
+    },
+    "__path__": {
+      "default": null,
+      "type": [
+        "array",
+        "null"
+      ],
+      "items": {
+        "type": "string"
+      }
+    },
+    "__required__": {
+      "type": [
+        "boolean",
+        "null"
+      ]
+    },
+    "websocket_port": {
+      "type": "string"
+    }
+  },
+  "additionalProperties": false
+}
\ No newline at end of file
diff --git a/zenoh-plugin-remote-api/src/config.rs b/zenoh-plugin-remote-api/src/config.rs
new file mode 100644
index 0000000..1a749b8
--- /dev/null
+++ b/zenoh-plugin-remote-api/src/config.rs
@@ -0,0 +1,234 @@
+//
+// Copyright (c) 2023 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//
+use std::fmt;
+
+use schemars::JsonSchema;
+use serde::{
+    de,
+    de::{Unexpected, Visitor},
+    Deserialize, Deserializer,
+};
+
+const DEFAULT_HTTP_INTERFACE: &str = "[::]";
+
+#[derive(JsonSchema, Deserialize, serde::Serialize, Clone, Debug)]
+#[serde(deny_unknown_fields)]
+pub struct Config {
+    #[serde(deserialize_with = "deserialize_ws_port")]
+    pub websocket_port: String,
+
+    pub secure_websocket: Option<SecureWebsocket>,
+
+    #[serde(default, deserialize_with = "deserialize_path")]
+    __path__: Option<Vec<String>>,
+    __required__: Option<bool>,
+    __config__: Option<String>,
+}
+
+#[derive(JsonSchema, Deserialize, serde::Serialize, Clone, Debug)]
+#[serde(deny_unknown_fields)]
+pub struct SecureWebsocket {
+    pub certificate_path: String,
+    pub private_key_path: String,
+}
+
+impl From<&Config> for serde_json::Value {
+    fn from(c: &Config) -> Self {
+        serde_json::to_value(c).unwrap()
+    }
+}
+
+fn deserialize_ws_port<'de, D>(deserializer: D) -> Result<String, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    deserializer.deserialize_any(WebsocketVisitor)
+}
+
+struct WebsocketVisitor;
+
+impl<'de> Visitor<'de> for WebsocketVisitor {
+    type Value = String;
+
+    fn expecting(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
+        formatter.write_str(r#"either a port number as an integer or a string, either a string with format "<local_ip>:<port_number>""#)
+    }
+
+    fn visit_u64<E>(self, value: u64) -> Result<Self::Value, E>
+    where
+        E: de::Error,
+    {
+        Ok(format!("{DEFAULT_HTTP_INTERFACE}:{value}"))
+    }
+
+    fn visit_str<E>(self, value: &str) -> Result<Self::Value, E>
+    where
+        E: de::Error,
+    {
+        let parts: Vec<&str> = value.split(':').collect();
+        if parts.len() > 2 {
+            return Err(E::invalid_value(Unexpected::Str(value), &self));
+        }
+        let (interface, port) = if parts.len() == 1 {
+            (DEFAULT_HTTP_INTERFACE, parts[0])
+        } else {
+            (parts[0], parts[1])
+        };
+        if port.parse::<u32>().is_err() {
+            return Err(E::invalid_value(Unexpected::Str(port), &self));
+        }
+        Ok(format!("{interface}:{port}"))
+    }
+}
+
+fn deserialize_path<'de, D>(deserializer: D) -> Result<Option<Vec<String>>, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    deserializer.deserialize_option(OptPathVisitor)
+}
+
+struct OptPathVisitor;
+
+impl<'de> serde::de::Visitor<'de> for OptPathVisitor {
+    type Value = Option<Vec<String>>;
+
+    fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result {
+        write!(formatter, "none or a string or an array of strings")
+    }
+
+    fn visit_none<E>(self) -> Result<Self::Value, E>
+    where
+        E: de::Error,
+    {
+        Ok(None)
+    }
+
+    fn visit_some<D>(self, deserializer: D) -> Result<Self::Value, D::Error>
+    where
+        D: Deserializer<'de>,
+    {
+        deserializer.deserialize_any(PathVisitor).map(Some)
+    }
+}
+
+struct PathVisitor;
+
+impl<'de> serde::de::Visitor<'de> for PathVisitor {
+    type Value = Vec<String>;
+
+    fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result {
+        write!(formatter, "a string or an array of strings")
+    }
+
+    fn visit_str<E>(self, v: &str) -> Result<Self::Value, E>
+    where
+        E: de::Error,
+    {
+        Ok(vec![v.into()])
+    }
+
+    fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
+    where
+        A: de::SeqAccess<'de>,
+    {
+        let mut v = seq.size_hint().map_or_else(Vec::new, Vec::with_capacity);
+
+        while let Some(s) = seq.next_element()? {
+            v.push(s);
+        }
+        Ok(v)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::{Config, DEFAULT_HTTP_INTERFACE};
+
+    #[test]
+    fn test_path_field() {
+        // See: https://github.com/eclipse-zenoh/zenoh-plugin-webserver/issues/19
+        let config = serde_json::from_str::<Config>(
+            r#"{"__path__": "/example/path", "websocket_port": 8080}"#,
+        );
+
+        assert!(config.is_ok());
+        let Config {
+            websocket_port,
+            __required__,
+            __path__,
+            ..
+        } = config.unwrap();
+
+        assert_eq!(websocket_port, format!("{DEFAULT_HTTP_INTERFACE}:8080"));
+        assert_eq!(__path__, Some(vec![String::from("/example/path")]));
+        assert_eq!(__required__, None);
+    }
+
+    #[test]
+    fn test_required_field() {
+        // See: https://github.com/eclipse-zenoh/zenoh-plugin-webserver/issues/19
+        let config =
+            serde_json::from_str::<Config>(r#"{"__required__": true, "websocket_port": 8080}"#);
+        assert!(config.is_ok());
+        let Config {
+            websocket_port,
+            __required__,
+            __path__,
+            ..
+        } = config.unwrap();
+
+        assert_eq!(websocket_port, format!("{DEFAULT_HTTP_INTERFACE}:8080"));
+        assert_eq!(__path__, None);
+        assert_eq!(__required__, Some(true));
+    }
+
+    #[test]
+    fn test_path_field_and_required_field() {
+        // See: https://github.com/eclipse-zenoh/zenoh-plugin-webserver/issues/19
+        let config = serde_json::from_str::<Config>(
+            r#"{"__path__": "/example/path", "__required__": true, "websocket_port": 8080}"#,
+        );
+
+        assert!(config.is_ok());
+        let Config {
+            websocket_port,
+            __required__,
+            __path__,
+            ..
+        } = config.unwrap();
+
+        assert_eq!(websocket_port, format!("{DEFAULT_HTTP_INTERFACE}:8080"));
+        assert_eq!(__path__, Some(vec![String::from("/example/path")]));
+        assert_eq!(__required__, Some(true));
+    }
+
+    #[test]
+    fn test_no_path_field_and_no_required_field() {
+        // See: https://github.com/eclipse-zenoh/zenoh-plugin-webserver/issues/19
+        let config = serde_json::from_str::<Config>(r#"{"websocket_port": 8080}"#);
+
+        assert!(config.is_ok());
+        let Config {
+            websocket_port,
+            __required__,
+            __path__,
+            ..
+        } = config.unwrap();
+
+        assert_eq!(websocket_port, format!("{DEFAULT_HTTP_INTERFACE}:8080"));
+        assert_eq!(__path__, None);
+        assert_eq!(__required__, None);
+    }
+}
diff --git a/zenoh-plugin-remote-api/src/handle_control_message.rs b/zenoh-plugin-remote-api/src/handle_control_message.rs
new file mode 100644
index 0000000..5f3660e
--- /dev/null
+++ b/zenoh-plugin-remote-api/src/handle_control_message.rs
@@ -0,0 +1,183 @@
+use std::{error::Error, net::SocketAddr};
+
+use tracing::{error, warn};
+use uuid::Uuid;
+use zenoh::{
+    bytes::EncodingBuilderTrait, key_expr::KeyExpr, qos::QoSBuilderTrait, query::Selector,
+    session::SessionDeclarations,
+};
+
+use crate::{
+    interface::{ControlMsg, DataMsg, QueryWS, QueryableMsg, RemoteAPIMsg, ReplyWS, SampleWS},
+    StateMap,
+};
+
+pub async fn handle_control_message(
+    ctrl_msg: ControlMsg,
+    sock_addr: SocketAddr,
+    state_map: StateMap,
+) -> Result<Option<ControlMsg>, Box<dyn Error + Send + Sync>> {
+    // Access State Structure
+    let mut state_writer = state_map.write().await;
+    let state_map = match state_writer.get_mut(&sock_addr) {
+        Some(state_map) => state_map,
+        None => {
+            tracing::warn!("State Map Does not contain SocketAddr");
+            return Ok(None);
+        }
+    };
+
+    // Handle Control Message
+    match ctrl_msg {
+        ControlMsg::OpenSession => {
+            return Ok(Some(ControlMsg::Session(state_map.session_id)));
+        }
+        ControlMsg::CloseSession => {
+            if let Some(state_map) = state_writer.remove(&sock_addr) {
+                drop(state_map);
+            } else {
+                warn!("State Map Does not contain SocketAddr");
+            }
+        }
+        //
+        // ControlMsg::CreateKeyExpr(key_expr_str) => {
+        //     let key_expr = KeyExpr::new(key_expr_str).unwrap();
+        //     remote_state.key_expr.insert(key_expr.clone());
+        //     Some(ControlMsg::KeyExpr(key_expr.to_string()))
+        // }
+        //
+        ControlMsg::Get {
+            key_expr,
+            parameters,
+            id,
+        } => {
+            let selector = Selector::owned(key_expr, parameters.unwrap_or_default());
+            let receiver: flume::Receiver<zenoh::query::Reply> =
+                state_map.session.get(selector).await?;
+            let mut receiving = true;
+            while receiving {
+                match receiver.recv_async().await {
+                    Ok(reply) => {
+                        let reply_ws = ReplyWS::from((reply, id));
+                        let remote_api_msg = RemoteAPIMsg::Data(DataMsg::GetReply(reply_ws));
+                        if let Err(err) = state_map.websocket_tx.send(remote_api_msg) {
+                            tracing::error!("{}", err);
+                        }
+                    }
+                    Err(_) => receiving = false,
+                }
+            }
+            let remote_api_msg = RemoteAPIMsg::Control(ControlMsg::GetFinished { id });
+            state_map.websocket_tx.send(remote_api_msg)?;
+        }
+        ControlMsg::Put { key_expr, payload } => state_map.session.put(key_expr, payload).await?,
+        ControlMsg::Delete { key_expr } => state_map.session.delete(key_expr).await?,
+        // SUBSCRIBER
+        ControlMsg::DeclareSubscriber {
+            key_expr: key_expr_str,
+            id: subscriber_uuid,
+        } => {
+            let key_expr = KeyExpr::new(key_expr_str).unwrap();
+            let ch_tx = state_map.websocket_tx.clone();
+            let res_subscriber = state_map
+                .session
+                .declare_subscriber(key_expr)
+                .callback(move |sample| {
+                    let sample_ws = SampleWS::from(sample);
+                    let remote_api_message =
+                        RemoteAPIMsg::Data(DataMsg::Sample(sample_ws, subscriber_uuid));
+                    if let Err(e) = ch_tx.send(remote_api_message) {
+                        error!("Forward Sample Channel error: {e}");
+                    };
+                })
+                .await?;
+
+            state_map
+                .subscribers
+                .insert(subscriber_uuid, res_subscriber);
+
+            return Ok(Some(ControlMsg::Subscriber(subscriber_uuid)));
+        }
+        ControlMsg::UndeclareSubscriber(uuid) => {
+            if let Some(subscriber) = state_map.subscribers.remove(&uuid) {
+                subscriber.undeclare().await?
+            } else {
+                warn!("UndeclareSubscriber: No Subscriber with UUID {uuid}");
+            }
+        }
+        // Publisher
+        ControlMsg::DeclarePublisher {
+            key_expr,
+            id: uuid,
+            encoding,
+            congestion_control,
+            priority,
+            express,
+        } => {
+            let publisher = state_map
+                .session
+                .declare_publisher(key_expr)
+                .congestion_control(congestion_control)
+                .encoding(encoding)
+                .priority(priority)
+                .express(express)
+                .await?;
+            state_map.publishers.insert(uuid, publisher);
+        }
+        ControlMsg::UndeclarePublisher(id) => {
+            if let Some(publisher) = state_map.publishers.remove(&id) {
+                publisher.undeclare().await?;
+            } else {
+                warn!("UndeclarePublisher: No Publisher with UUID {id}");
+            }
+        }
+        // Queryable
+        ControlMsg::DeclareQueryable {
+            key_expr,
+            complete,
+            id: queryable_uuid,
+        } => {
+            let unanswered_queries = state_map.unanswered_queries.clone();
+            let session = state_map.session.clone();
+            let ch_tx = state_map.websocket_tx.clone();
+
+            let queryable = session
+                .declare_queryable(&key_expr)
+                .complete(complete)
+                .callback(move |query| {
+                    let query_uuid = Uuid::new_v4();
+                    let queryable_msg = QueryableMsg::Query {
+                        queryable_uuid,
+                        query: QueryWS::from((&query, query_uuid)),
+                    };
+
+                    let remote_msg = RemoteAPIMsg::Data(DataMsg::Queryable(queryable_msg));
+                    if let Err(err) = ch_tx.send(remote_msg) {
+                        tracing::error!("Could not send Queryable Message on WS {}", err);
+                    };
+
+                    match unanswered_queries.write() {
+                        Ok(mut rw_lock) => {
+                            rw_lock.insert(query_uuid, query);
+                        }
+                        Err(err) => tracing::error!("Query RwLock has been poisoned {err:?}"),
+                    }
+                })
+                .await?;
+
+            state_map.queryables.insert(queryable_uuid, queryable);
+        }
+        ControlMsg::UndeclareQueryable(uuid) => {
+            if let Some(queryable) = state_map.queryables.remove(&uuid) {
+                queryable.undeclare().await?;
+            };
+        }
+        msg @ (ControlMsg::GetFinished { id: _ }
+        | ControlMsg::Session(_)
+        | ControlMsg::Subscriber(_)) => {
+            // make server recieving these types unrepresentable
+            error!("Backend should not recieve this message Type: {msg:?}");
+        }
+    };
+    Ok(None)
+}
diff --git a/zenoh-plugin-remote-api/src/handle_data_message.rs b/zenoh-plugin-remote-api/src/handle_data_message.rs
new file mode 100644
index 0000000..5e16f36
--- /dev/null
+++ b/zenoh-plugin-remote-api/src/handle_data_message.rs
@@ -0,0 +1,85 @@
+use std::{error::Error, net::SocketAddr};
+
+use tracing::{error, warn};
+use zenoh::{bytes::EncodingBuilderTrait, query::Query, sample::SampleBuilderTrait};
+
+use crate::{
+    interface::{DataMsg, QueryReplyVariant, QueryableMsg},
+    StateMap,
+};
+
+pub async fn handle_data_message(
+    data_msg: DataMsg,
+    sock_addr: SocketAddr,
+    state_map: StateMap,
+) -> Result<(), Box<dyn Error + Send + Sync>> {
+    // Access State Structure
+    let state_writer = state_map.read().await;
+    let state_map = match state_writer.get(&sock_addr) {
+        Some(x) => x,
+        None => {
+            tracing::warn!("State Map Does not contain SocketAddr");
+            return Ok(());
+        }
+    };
+
+    // Data Message
+    match data_msg {
+        DataMsg::PublisherPut {
+            id,
+            payload,
+            attachment,
+            encoding,
+        } => {
+            if let Some(publisher) = state_map.publishers.get(&id) {
+                let mut put_builder = publisher.put(payload);
+                if let Some(payload) = attachment {
+                    put_builder = put_builder.attachment(payload);
+                }
+                if let Some(encoding) = encoding {
+                    put_builder = put_builder.encoding(encoding);
+                }
+                if let Err(err) = put_builder.await {
+                    error!("PublisherPut {id}, {err}");
+                }
+            } else {
+                warn!("Publisher {id}, does not exist in State");
+            }
+        }
+        DataMsg::Queryable(queryable_msg) => match queryable_msg {
+            QueryableMsg::Reply { reply } => {
+                let query: Option<Query> = match state_map.unanswered_queries.write() {
+                    Ok(mut wr) => wr.remove(&reply.query_uuid),
+                    Err(err) => {
+                        tracing::error!("unanswered Queries RwLock Poisened {err}");
+                        return Ok(());
+                    }
+                };
+
+                if let Some(q) = query {
+                    match reply.result {
+                        QueryReplyVariant::Reply { key_expr, payload } => {
+                            q.reply(key_expr, payload).await?
+                        }
+                        QueryReplyVariant::ReplyErr { payload } => q.reply_err(payload).await?,
+                        QueryReplyVariant::ReplyDelete { key_expr } => {
+                            q.reply_del(key_expr).await?
+                        }
+                    }
+                } else {
+                    tracing::error!("Query id not found in map {}", reply.query_uuid);
+                };
+            }
+            QueryableMsg::Query {
+                queryable_uuid: _,
+                query: _,
+            } => {
+                warn!("Plugin should not receive Query from Client, This should go via Get API");
+            }
+        },
+        data_msg => {
+            error!("Server Should not recieved a {data_msg:?} Variant from client");
+        }
+    }
+    Ok(())
+}
diff --git a/zenoh-plugin-remote-api/src/interface.rs b/zenoh-plugin-remote-api/src/interface.rs
new file mode 100644
index 0000000..6d6d275
--- /dev/null
+++ b/zenoh-plugin-remote-api/src/interface.rs
@@ -0,0 +1,448 @@
+use std::sync::Arc;
+
+use serde::{Deserialize, Deserializer, Serialize, Serializer};
+use ts_rs::TS;
+use uuid::Uuid;
+use zenoh::{
+    key_expr::OwnedKeyExpr,
+    qos::{CongestionControl, Priority},
+    query::{Query, Reply, ReplyError},
+    sample::{Sample, SampleKind},
+};
+
+// ██████  ███████ ███    ███  ██████  ████████ ███████      █████  ██████  ██     ███    ███ ███████ ███████ ███████  █████   ██████  ███████
+// ██   ██ ██      ████  ████ ██    ██    ██    ██          ██   ██ ██   ██ ██     ████  ████ ██      ██      ██      ██   ██ ██       ██
+// ██████  █████   ██ ████ ██ ██    ██    ██    █████       ███████ ██████  ██     ██ ████ ██ █████   ███████ ███████ ███████ ██   ███ █████
+// ██   ██ ██      ██  ██  ██ ██    ██    ██    ██          ██   ██ ██      ██     ██  ██  ██ ██           ██      ██ ██   ██ ██    ██ ██
+// ██   ██ ███████ ██      ██  ██████     ██    ███████     ██   ██ ██      ██     ██      ██ ███████ ███████ ███████ ██   ██  ██████  ███████
+
+#[derive(TS)]
+#[ts(export)]
+#[derive(Debug, Serialize, Deserialize)]
+pub enum RemoteAPIMsg {
+    Data(DataMsg),
+    Control(ControlMsg),
+}
+
+#[derive(TS)]
+#[ts(export)]
+#[derive(Debug, Serialize, Deserialize)]
+pub enum DataMsg {
+    // Client -> SVR
+    PublisherPut {
+        id: Uuid,
+        payload: Vec<u8>,
+        attachment: Option<Vec<u8>>,
+        encoding: Option<String>,
+    },
+    // SVR -> Client
+    // Subscriber
+    Sample(SampleWS, Uuid),
+    // GetReply
+    GetReply(ReplyWS),
+    // Bidirectional
+    Queryable(QueryableMsg),
+}
+
+#[derive(TS)]
+#[ts(export)]
+#[derive(Debug, Serialize, Deserialize)]
+pub enum QueryableMsg {
+    // SVR -> Client
+    // UUID of original queryable
+    Query {
+        queryable_uuid: Uuid,
+        query: QueryWS,
+    },
+    // Client -> SVR
+    Reply {
+        reply: QueryReplyWS,
+    },
+}
+
+//  ██████  ██████  ███    ██ ████████ ██████   ██████  ██          ███    ███ ███████ ███████ ███████  █████   ██████  ███████
+// ██      ██    ██ ████   ██    ██    ██   ██ ██    ██ ██          ████  ████ ██      ██      ██      ██   ██ ██       ██
+// ██      ██    ██ ██ ██  ██    ██    ██████  ██    ██ ██          ██ ████ ██ █████   ███████ ███████ ███████ ██   ███ █████
+// ██      ██    ██ ██  ██ ██    ██    ██   ██ ██    ██ ██          ██  ██  ██ ██           ██      ██ ██   ██ ██    ██ ██
+//  ██████  ██████  ██   ████    ██    ██   ██  ██████  ███████     ██      ██ ███████ ███████ ███████ ██   ██  ██████  ███████
+
+#[derive(Debug, Serialize, Deserialize, TS)]
+#[ts(export)]
+pub enum ControlMsg {
+    // Session
+    OpenSession,
+    CloseSession,
+    Session(Uuid),
+
+    // Session Action Messages
+    // TODO Replace parameters String with Parameters
+    Get {
+        #[ts(as = "OwnedKeyExprWrapper")]
+        key_expr: OwnedKeyExpr,
+        parameters: Option<String>,
+        id: Uuid,
+    },
+    GetFinished {
+        id: Uuid,
+    },
+    Put {
+        #[ts(as = "OwnedKeyExprWrapper")]
+        key_expr: OwnedKeyExpr,
+        payload: Vec<u8>,
+    },
+    Delete {
+        #[ts(as = "OwnedKeyExprWrapper")]
+        key_expr: OwnedKeyExpr,
+    },
+    //
+
+    // Subscriber
+    DeclareSubscriber {
+        #[ts(as = "OwnedKeyExprWrapper")]
+        key_expr: OwnedKeyExpr,
+        id: Uuid,
+    },
+    Subscriber(Uuid),
+    UndeclareSubscriber(Uuid),
+
+    // Publisher
+    DeclarePublisher {
+        #[ts(as = "OwnedKeyExprWrapper")]
+        key_expr: OwnedKeyExpr,
+        encoding: String,
+        #[serde(
+            deserialize_with = "deserialize_congestion_control",
+            serialize_with = "serialize_congestion_control"
+        )]
+        #[ts(type = "number")]
+        congestion_control: CongestionControl,
+        #[serde(
+            deserialize_with = "deserialize_priority",
+            serialize_with = "serialize_priority"
+        )]
+        #[ts(type = "number")]
+        priority: Priority,
+        express: bool,
+        id: Uuid,
+    },
+    UndeclarePublisher(Uuid),
+
+    // Queryable
+    DeclareQueryable {
+        #[ts(as = "OwnedKeyExprWrapper")]
+        key_expr: OwnedKeyExpr,
+        complete: bool,
+        id: Uuid,
+    },
+    UndeclareQueryable(Uuid),
+}
+
+fn deserialize_congestion_control<'de, D>(d: D) -> Result<CongestionControl, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    Ok(match u8::deserialize(d)? {
+        0u8 => CongestionControl::Drop,
+        1u8 => CongestionControl::Block,
+        val => {
+            return Err(serde::de::Error::custom(format!(
+                "Value not valid for CongestionControl Enum {:?}",
+                val
+            )))
+        }
+    })
+}
+
+fn serialize_congestion_control<S>(
+    congestion_control: &CongestionControl,
+    s: S,
+) -> Result<S::Ok, S::Error>
+where
+    S: Serializer,
+{
+    s.serialize_u8(*congestion_control as u8)
+}
+
+fn deserialize_priority<'de, D>(d: D) -> Result<Priority, D::Error>
+where
+    D: Deserializer<'de>,
+{
+    Ok(match u8::deserialize(d)? {
+        1u8 => Priority::RealTime,
+        2u8 => Priority::InteractiveHigh,
+        3u8 => Priority::InteractiveLow,
+        4u8 => Priority::DataHigh,
+        5u8 => Priority::Data,
+        6u8 => Priority::DataLow,
+        7u8 => Priority::Background,
+        val => {
+            return Err(serde::de::Error::custom(format!(
+                "Value not valid for Priority Enum {:?}",
+                val
+            )))
+        }
+    })
+}
+
+fn serialize_priority<S>(priority: &Priority, s: S) -> Result<S::Ok, S::Error>
+where
+    S: Serializer,
+{
+    s.serialize_u8(*priority as u8)
+}
+
+// ██     ██ ██████   █████  ██████  ██████  ███████ ██████  ███████
+// ██     ██ ██   ██ ██   ██ ██   ██ ██   ██ ██      ██   ██ ██
+// ██  █  ██ ██████  ███████ ██████  ██████  █████   ██████  ███████
+// ██ ███ ██ ██   ██ ██   ██ ██      ██      ██      ██   ██      ██
+//  ███ ███  ██   ██ ██   ██ ██      ██      ███████ ██   ██ ███████
+
+// Wrapper to get OwnerKeyExpr to play with TS
+#[allow(dead_code)] // To allow OwnedKeyExpr to be converted to String
+#[derive(Debug, Deserialize, TS)]
+#[serde(from = "String")]
+pub struct OwnedKeyExprWrapper(Arc<str>);
+
+impl From<String> for OwnedKeyExprWrapper {
+    fn from(s: String) -> Self {
+        OwnedKeyExprWrapper(s.into())
+    }
+}
+
+#[derive(TS)]
+#[ts(export)]
+#[derive(Debug, Serialize, Deserialize)]
+pub struct QueryWS {
+    query_uuid: Uuid,
+    #[ts(as = "OwnedKeyExprWrapper")]
+    key_expr: OwnedKeyExpr,
+    parameters: String,
+    encoding: Option<String>,
+    attachment: Option<Vec<u8>>,
+    payload: Option<Vec<u8>>,
+}
+
+impl From<(&Query, Uuid)> for QueryWS {
+    fn from((q, uuid): (&Query, Uuid)) -> Self {
+        let payload: Option<Vec<u8>> = q.payload().map(Vec::<u8>::from);
+        let attachment: Option<Vec<u8>> = q.attachment().map(Vec::<u8>::from);
+        QueryWS {
+            query_uuid: uuid,
+            key_expr: q.key_expr().to_owned().into(),
+            parameters: q.parameters().to_string(),
+            encoding: q.encoding().map(|x| x.to_string()),
+            attachment,
+            payload,
+        }
+    }
+}
+
+#[derive(TS)]
+#[ts(export)]
+#[derive(Debug, Serialize, Deserialize)]
+pub struct ReplyWS {
+    pub query_uuid: Uuid,
+    pub result: Result<SampleWS, ReplyErrorWS>,
+}
+
+impl From<(Reply, Uuid)> for ReplyWS {
+    fn from((reply, uuid): (Reply, Uuid)) -> Self {
+        match reply.result() {
+            Ok(sample) => {
+                let sample_ws = SampleWS::from(sample);
+                ReplyWS {
+                    query_uuid: uuid,
+                    result: Ok(sample_ws),
+                }
+            }
+            Err(err) => {
+                let error_ws = ReplyErrorWS::from(err);
+
+                ReplyWS {
+                    query_uuid: uuid,
+                    result: Err(error_ws),
+                }
+            }
+        }
+    }
+}
+
+#[derive(TS)]
+#[ts(export)]
+#[derive(Debug, Serialize, Deserialize)]
+pub struct QueryReplyWS {
+    pub query_uuid: Uuid,
+    pub result: QueryReplyVariant,
+}
+
+#[derive(TS)]
+#[ts(export)]
+#[derive(Debug, Serialize, Deserialize)]
+pub enum QueryReplyVariant {
+    Reply {
+        #[ts(as = "OwnedKeyExprWrapper")]
+        key_expr: OwnedKeyExpr,
+        payload: Vec<u8>,
+    },
+    ReplyErr {
+        payload: Vec<u8>,
+    },
+    ReplyDelete {
+        #[ts(as = "OwnedKeyExprWrapper")]
+        key_expr: OwnedKeyExpr,
+    },
+}
+
+#[derive(TS)]
+#[ts(export)]
+#[derive(Debug, Serialize, Deserialize)]
+pub struct ReplyErrorWS {
+    pub(crate) payload: Vec<u8>,
+    pub(crate) encoding: String,
+}
+
+impl From<ReplyError> for ReplyErrorWS {
+    fn from(r_e: ReplyError) -> Self {
+        let z_bytes: Vec<u8> = Vec::<u8>::from(r_e.payload());
+
+        ReplyErrorWS {
+            payload: z_bytes,
+            encoding: r_e.encoding().to_string(),
+        }
+    }
+}
+
+impl From<&ReplyError> for ReplyErrorWS {
+    fn from(r_e: &ReplyError) -> Self {
+        let z_bytes: Vec<u8> = Vec::<u8>::from(r_e.payload());
+
+        ReplyErrorWS {
+            payload: z_bytes,
+            encoding: r_e.encoding().to_string(),
+        }
+    }
+}
+
+#[derive(Debug, Serialize, Deserialize, TS)]
+#[ts(export)]
+pub struct SampleWS {
+    #[ts(as = "OwnedKeyExprWrapper")]
+    pub(crate) key_expr: OwnedKeyExpr,
+    pub(crate) value: Vec<u8>,
+    pub(crate) kind: SampleKindWS,
+    pub(crate) encoding: String,
+    pub(crate) timestamp: Option<String>,
+    pub(crate) congestion_control: u8,
+    pub(crate) priority: u8,
+    pub(crate) express: bool,
+    pub(crate) attachement: Option<Vec<u8>>,
+}
+
+#[derive(Debug, Serialize, Deserialize, TS)]
+#[ts(export)]
+pub enum SampleKindWS {
+    Put = 0,
+    Delete = 1,
+}
+
+impl From<SampleKind> for SampleKindWS {
+    fn from(sk: SampleKind) -> Self {
+        match sk {
+            SampleKind::Put => SampleKindWS::Put,
+            SampleKind::Delete => SampleKindWS::Delete,
+        }
+    }
+}
+
+impl From<&Sample> for SampleWS {
+    fn from(s: &Sample) -> Self {
+        let z_bytes: Vec<u8> = Vec::<u8>::from(s.payload());
+        SampleWS {
+            key_expr: s.key_expr().to_owned().into(),
+            value: z_bytes,
+            kind: s.kind().into(),
+            timestamp: s.timestamp().map(|x| x.to_string()),
+            priority: s.priority() as u8,
+            congestion_control: s.congestion_control() as u8,
+            encoding: s.encoding().to_string(),
+            express: s.express(),
+            attachement: s.attachment().map(|x| Vec::<u8>::from(x)),
+        }
+    }
+}
+
+impl From<Sample> for SampleWS {
+    fn from(s: Sample) -> Self {
+        SampleWS::from(&s)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+
+    use std::str::FromStr;
+
+    use uuid::Uuid;
+    use zenoh::key_expr::KeyExpr;
+
+    use super::*;
+
+    #[test]
+    fn serialize_messages() {
+        let json: String =
+            serde_json::to_string(&RemoteAPIMsg::Control(ControlMsg::OpenSession)).unwrap();
+        assert_eq!(json, r#"{"Control":"OpenSession"}"#);
+
+        let uuid = Uuid::from_str("a2663bb1-128c-4dd3-a42b-d1d3337e2e51").unwrap();
+
+        let json: String =
+            serde_json::to_string(&RemoteAPIMsg::Control(ControlMsg::Session(uuid))).unwrap();
+        assert_eq!(
+            json,
+            r#"{"Control":{"Session":"a2663bb1-128c-4dd3-a42b-d1d3337e2e51"}}"#
+        );
+
+        let json: String =
+            serde_json::to_string(&RemoteAPIMsg::Control(ControlMsg::CloseSession)).unwrap();
+        assert_eq!(json, r#"{"Control":"CloseSession"}"#);
+
+        let key_expr: OwnedKeyExpr = KeyExpr::new("demo/test").unwrap().to_owned().into();
+
+        let _sample_ws = SampleWS {
+            key_expr: key_expr.clone(),
+            value: vec![1, 2, 3],
+            kind: SampleKindWS::Put,
+            encoding: "zenoh/bytes".into(),
+            timestamp: None,
+            priority: 1,
+            congestion_control: 1,
+            express: false,
+            attachement: None,
+        };
+
+        // let json: String = serde_json::to_string(&QueryableMsg::Reply {
+        //     reply: QueryReplyWS {
+        //         query_uuid: uuid,
+        //     },
+        // })
+        // .unwrap();
+        // assert_eq!(json, r#"{"Reply":{}}"#);
+
+        let sample_ws = SampleWS {
+            key_expr,
+            value: vec![1, 2, 3],
+            kind: SampleKindWS::Put,
+            encoding: "zenoh/bytes".into(),
+            timestamp: None,
+            priority: 1,
+            congestion_control: 1,
+            express: false,
+            attachement: None,
+        };
+        let _json: String = serde_json::to_string(&DataMsg::Sample(sample_ws, uuid)).unwrap();
+        // assert_eq!(
+        //     json,
+        //     r#"{"Sample":[{"key_expr":"demo/test","value":[1,2,3],"kind":"Put"},"a2663bb1-128c-4dd3-a42b-d1d3337e2e51"]}"#
+        // );
+    }
+}
diff --git a/zenoh-plugin-remote-api/src/lib.rs b/zenoh-plugin-remote-api/src/lib.rs
new file mode 100644
index 0000000..3a6a51e
--- /dev/null
+++ b/zenoh-plugin-remote-api/src/lib.rs
@@ -0,0 +1,383 @@
+//
+// Copyright (c) 2023 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//
+
+//! ⚠️ WARNING ⚠️
+//!
+//! This crate is intended for Zenoh's internal use.
+//!
+//! [Click here for Zenoh's documentation](../zenoh/index.html)
+
+use std::{
+    collections::HashMap,
+    fs::File,
+    io::{self, BufReader, ErrorKind},
+    net::SocketAddr,
+    path::Path,
+    sync::Arc,
+};
+
+use flume::Sender;
+use futures::{future, pin_mut, StreamExt, TryStreamExt};
+use interface::RemoteAPIMsg;
+use rustls_pemfile::{certs, private_key};
+use tokio::{
+    net::{TcpListener, TcpStream},
+    sync::RwLock,
+    task::JoinHandle,
+};
+use tokio_rustls::{
+    rustls::{
+        self,
+        pki_types::{CertificateDer, PrivateKeyDer},
+    },
+    server::TlsStream,
+    TlsAcceptor,
+};
+use tokio_tungstenite::tungstenite::protocol::Message;
+use tracing::{debug, error};
+use uuid::Uuid;
+use zenoh::{
+    internal::{
+        plugins::{RunningPluginTrait, ZenohPlugin},
+        runtime::Runtime,
+    },
+    pubsub::{Publisher, Subscriber},
+    query::{Query, Queryable},
+    Session,
+};
+use zenoh_plugin_trait::{plugin_long_version, plugin_version, Plugin, PluginControl};
+use zenoh_result::{bail, zerror, ZResult};
+
+mod config;
+pub use config::Config;
+
+mod handle_control_message;
+mod handle_data_message;
+mod interface;
+use crate::{
+    handle_control_message::handle_control_message, handle_data_message::handle_data_message,
+};
+
+const WORKER_THREAD_NUM: usize = 2;
+const MAX_BLOCK_THREAD_NUM: usize = 50;
+const GIT_VERSION: &str = git_version::git_version!(prefix = "v", cargo_prefix = "v");
+
+lazy_static::lazy_static! {
+    static ref LONG_VERSION: String = format!("{} built with {}", GIT_VERSION, env!("RUSTC_VERSION"));
+}
+
+fn load_certs(path: &Path) -> io::Result<Vec<CertificateDer<'static>>> {
+    certs(&mut BufReader::new(File::open(path)?)).collect()
+}
+
+fn load_key(path: &Path) -> io::Result<PrivateKeyDer<'static>> {
+    private_key(&mut BufReader::new(File::open(path)?))
+        .unwrap()
+        .ok_or(io::Error::new(
+            ErrorKind::Other,
+            "No private key found".to_string(),
+        ))
+}
+
+pub struct RemoteApiPlugin {}
+
+#[cfg(feature = "dynamic_plugin")]
+zenoh_plugin_trait::declare_plugin!(RemoteApiPlugin);
+
+impl ZenohPlugin for RemoteApiPlugin {}
+
+impl Plugin for RemoteApiPlugin {
+    type StartArgs = Runtime;
+    type Instance = zenoh::internal::plugins::RunningPlugin;
+    const DEFAULT_NAME: &'static str = "remote_api";
+    const PLUGIN_VERSION: &'static str = plugin_version!();
+    const PLUGIN_LONG_VERSION: &'static str = plugin_long_version!();
+
+    fn start(
+        name: &str,
+        runtime: &Self::StartArgs,
+    ) -> ZResult<zenoh::internal::plugins::RunningPlugin> {
+        // Try to initiate login.
+        // Required in case of dynamic lib, otherwise no logs.
+        // But cannot be done twice in case of static link.
+        zenoh_util::try_init_log_from_env();
+        tracing::info!("Starting {name}");
+
+        let runtime_conf = runtime.config().lock();
+
+        let plugin_conf = runtime_conf
+            .plugin(name)
+            .ok_or_else(|| zerror!("Plugin `{}`: missing config", name))?;
+
+        let conf: Config = serde_json::from_value(plugin_conf.clone())
+            .map_err(|e| zerror!("Plugin `{}` configuration error: {}", name, e))?;
+
+        let wss_config = match conf.secure_websocket {
+            Some(wss_config) => {
+                tracing::info!("Loading certs from : {} ...", wss_config.certificate_path);
+                let certs = load_certs(Path::new(&wss_config.certificate_path))
+                    .map_err(|err| zerror!("Could not Load Cert `{}`", err))?;
+                tracing::info!(
+                    "Loading Private Key from : {} ...",
+                    wss_config.private_key_path
+                );
+                let key = load_key(Path::new(&wss_config.private_key_path))
+                    .map_err(|err| zerror!("Could not Load Private Key `{}`", err))?;
+                Some((certs, key))
+            }
+            None => None,
+        };
+
+        let plugin_runtime: tokio::runtime::Runtime =
+            match tokio::runtime::Builder::new_multi_thread()
+                .worker_threads(WORKER_THREAD_NUM)
+                .max_blocking_threads(MAX_BLOCK_THREAD_NUM)
+                .enable_all()
+                .build()
+            {
+                Ok(runtime) => runtime,
+                Err(err) => {
+                    bail!("Unable to create tokio runtime, {err}");
+                }
+            };
+
+        let weak_runtime = Runtime::downgrade(runtime);
+        if let Some(runtime) = weak_runtime.upgrade() {
+            // Create Map Of Websocket State
+            let hm: HashMap<SocketAddr, RemoteState> = HashMap::new();
+            let state_map = Arc::new(RwLock::new(hm));
+
+            // Run WebServer
+            let runtime_cl = runtime.clone();
+            let state_map_cl = state_map.clone();
+
+            let join_handle = run_websocket_server(
+                conf.websocket_port,
+                &plugin_runtime,
+                runtime_cl,
+                state_map_cl,
+                wss_config,
+            );
+
+            // Return WebServer And State
+            let running_plugin = _RunningPluginInner {
+                _zenoh_runtime: runtime,
+                _plugin_runtime: plugin_runtime,
+                _websocket_server: join_handle,
+                _state_map: state_map,
+            };
+            Ok(Box::new(RunningPlugin(running_plugin)))
+        } else {
+            bail!("Cannot Get Zenoh Instance of Runtime !")
+        }
+    }
+}
+
+type StateMap = Arc<RwLock<HashMap<SocketAddr, RemoteState>>>;
+
+struct _RunningPluginInner {
+    _zenoh_runtime: Runtime,
+    _plugin_runtime: tokio::runtime::Runtime,
+    _websocket_server: JoinHandle<()>,
+    _state_map: StateMap,
+}
+
+#[allow(dead_code)]
+struct RunningPlugin(_RunningPluginInner);
+
+impl PluginControl for RunningPlugin {}
+
+impl RunningPluginTrait for RunningPlugin {
+    fn config_checker(
+        &self,
+        _path: &str,
+        _current: &serde_json::Map<String, serde_json::Value>,
+        _new: &serde_json::Map<String, serde_json::Value>,
+    ) -> ZResult<Option<serde_json::Map<String, serde_json::Value>>> {
+        bail!("Runtime configuration change not supported");
+    }
+}
+
+// Sender
+struct RemoteState {
+    websocket_tx: Sender<RemoteAPIMsg>,
+    session_id: Uuid,
+    session: Arc<Session>,
+    // key_expr: HashSet<KeyExpr<'static>>,
+    // PubSub
+    subscribers: HashMap<Uuid, Subscriber<'static, ()>>,
+    publishers: HashMap<Uuid, Publisher<'static>>,
+    // Queryable
+    queryables: HashMap<Uuid, Queryable<'static, ()>>,
+    unanswered_queries: Arc<std::sync::RwLock<HashMap<Uuid, Query>>>,
+}
+
+pub trait Streamable:
+    tokio::io::AsyncRead + tokio::io::AsyncWrite + std::marker::Send + Unpin
+{
+}
+impl Streamable for TcpStream {}
+impl Streamable for TlsStream<TcpStream> {}
+
+// Listen on the Zenoh Session
+fn run_websocket_server(
+    ws_port: String,
+    plugin_runtime: &tokio::runtime::Runtime,
+    zenoh_runtime: Runtime,
+    state_map: StateMap,
+    opt_certs: Option<(Vec<CertificateDer<'static>>, PrivateKeyDer<'static>)>,
+) -> JoinHandle<()> {
+    let mut opt_tls_acceptor: Option<TlsAcceptor> = None;
+
+    if let Some((certs, key)) = opt_certs {
+        let config = rustls::ServerConfig::builder()
+            .with_no_client_auth()
+            .with_single_cert(certs, key)
+            .map_err(|err| io::Error::new(io::ErrorKind::InvalidInput, err))
+            .expect("Could not build TLS Configuration from Certficiate/Key Combo :");
+        opt_tls_acceptor = Some(TlsAcceptor::from(Arc::new(config)));
+    }
+
+    plugin_runtime.spawn(async move {
+        tracing::info!("Spawning Remote API Plugin on {:?}", ws_port);
+
+        let tcp = TcpListener::bind(ws_port).await;
+
+        let server: TcpListener = match tcp {
+            Ok(x) => x,
+            Err(err) => {
+                tracing::error!("Unable to start TcpListener {err}");
+                return;
+            }
+        };
+
+        while let Ok((tcp_stream, sock_addr)) = server.accept().await {
+            println!("raw {sock_addr:?}");
+            let sock_adress = Arc::new(sock_addr);
+            let (ws_ch_tx, ws_ch_rx) = flume::unbounded::<RemoteAPIMsg>();
+
+            let mut write_guard = state_map.write().await;
+
+            let session = match zenoh::session::init(zenoh_runtime.clone()).await {
+                Ok(session) => session.into_arc(),
+                Err(err) => {
+                    tracing::error!("Unable to get Zenoh session from Runtime {err}");
+                    continue;
+                }
+            };
+
+            let state: RemoteState = RemoteState {
+                websocket_tx: ws_ch_tx.clone(),
+                session_id: Uuid::new_v4(),
+                session,
+                subscribers: HashMap::new(),
+                publishers: HashMap::new(),
+                queryables: HashMap::new(),
+                unanswered_queries: Arc::new(std::sync::RwLock::new(HashMap::new())),
+            };
+
+            // if remote state exists in map already. Ignore it and reinitialize
+            let _ = write_guard.insert(sock_addr, state);
+            drop(write_guard);
+
+            let streamable: Box<dyn Streamable> = match &opt_tls_acceptor {
+                Some(acceptor) => match acceptor.accept(tcp_stream).await {
+                    Ok(tls_stream) => Box::new(tls_stream),
+                    Err(err) => {
+                        error!("Could not secure TcpStream -> TlsStream {:?}", err);
+                        continue;
+                    }
+                },
+                None => Box::new(tcp_stream),
+            };
+
+            let ws_stream = tokio_tungstenite::accept_async(streamable)
+                .await
+                .expect("Error during the websocket handshake occurred");
+
+            let (ws_tx, ws_rx) = ws_stream.split();
+
+            let ch_rx_stream = ws_ch_rx
+                .into_stream()
+                .map(|remote_api_msg| {
+                    // TODO: Take Care of unwrap.
+                    let val = serde_json::to_string(&remote_api_msg).unwrap();
+                    Ok(Message::Text(val))
+                })
+                .forward(ws_tx);
+
+            let sock_adress_cl = sock_adress.clone();
+
+            let state_map_cl_outer = state_map.clone();
+
+            //  Incomming message from Websocket
+            let incoming_ws = tokio::task::spawn(async move {
+                let mut non_close_messages = ws_rx.try_filter(|msg| future::ready(!msg.is_close()));
+                let state_map_cl = state_map_cl_outer.clone();
+                let sock_adress_ref = sock_adress_cl.clone();
+                while let Ok(Some(msg)) = non_close_messages.try_next().await {
+                    if let Some(response) =
+                        handle_message(msg, *sock_adress_ref, state_map_cl.clone()).await
+                    {
+                        if let Err(err) = ws_ch_tx.send(response) {
+                            error!("WS Send Error: {err:?}");
+                        };
+                    };
+                }
+            });
+
+            pin_mut!(ch_rx_stream, incoming_ws);
+            future::select(ch_rx_stream, incoming_ws).await;
+
+            state_map.write().await.remove(sock_adress.as_ref());
+            tracing::info!("Disconnected {}", sock_adress.as_ref());
+        }
+    })
+}
+
+async fn handle_message(
+    msg: Message,
+    sock_addr: SocketAddr,
+    state_map: StateMap,
+) -> Option<RemoteAPIMsg> {
+    match msg {
+        Message::Text(text) => match serde_json::from_str::<RemoteAPIMsg>(&text) {
+            Ok(msg) => match msg {
+                RemoteAPIMsg::Control(ctrl_msg) => {
+                    match handle_control_message(ctrl_msg, sock_addr, state_map).await {
+                        Ok(ok) => return ok.map(RemoteAPIMsg::Control),
+                        Err(err) => {
+                            tracing::error!(err);
+                        }
+                    }
+                }
+                RemoteAPIMsg::Data(data_msg) => {
+                    if let Err(err) = handle_data_message(data_msg, sock_addr, state_map).await {
+                        tracing::error!(err);
+                    }
+                }
+            },
+            Err(err) => {
+                error!(
+                    "RemoteAPI: WS Message Cannot be Deserialized to RemoteAPIMsg {}",
+                    err
+                );
+            }
+        },
+        _ => {
+            debug!("RemoteAPI: WS Message Not Text");
+        }
+    };
+    None
+}
diff --git a/CONTRIBUTING.md b/zenoh-ts/CONTRIBUTING.md
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diff --git a/LICENSE b/zenoh-ts/LICENSE
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diff --git a/NOTICE.md b/zenoh-ts/NOTICE.md
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diff --git a/zenoh-ts/README.md b/zenoh-ts/README.md
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@@ -0,0 +1,129 @@
+<img src="https://raw.githubusercontent.com/eclipse-zenoh/zenoh/master/zenoh-dragon.png" height="150">
+
+> :warning: **This is a WIP Active development project**: Experiment with with it, but it is **Not** production Ready!
+
+[![Discord](https://img.shields.io/badge/chat-on%20discord-blue)](https://discord.gg/2GJ958VuHs)
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+
+# Eclipse Zenoh Typescript / Javascript API
+
+The Eclipse Zenoh: Zero Overhead Pub/sub, Store/Query and Compute.
+
+Zenoh (pronounce _/zeno/_) unifies data in motion, data at rest and computations. It carefully blends traditional pub/sub with geo-distributed storages, queries and computations, while retaining a level of time and space efficiency that is well beyond any of the mainstream stacks.
+
+Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information.
+
+---
+
+# Typescript/Javascript API
+
+This repository provides a Typscript / Javascript binding based [zenoh-pico], a pico variant of zenoh written in C aimed at resource constrained systems (i.e. Micro controllers).  
+The long term plan is to use zenoh [Zenoh written in Rust](https://github.com/eclipse-zenoh/zenoh) to target WASM.  
+In its current state, it is not possible to compile Zenoh (Rust) to target WASM, and will need to undergo a fair amount of refactoring before that can happen.
+
+---
+
+## How to build it
+
+> :warning: **WARNING** :warning: : Zenoh and its ecosystem are under active development. When you build from git, make sure you also build from git any other Zenoh repository you plan to use (e.g. binding, plugin, backend, etc.). It may happen that some changes in git are not compatible with the most recent packaged Zenoh release (e.g. deb, docker, pip). We put particular effort in maintaining compatibility between the various git repositories in the Zenoh project.
+
+1. Make sure that the following utilities are available on your platform.
+
+- [Docker](https://www.docker.com/), Please check [here](https://docs.docker.com/engine/install/) to learn how to install it.
+- [NPM](https://www.npmjs.com/package/npm)
+- Typescript
+
+2. Clone the [source] with `git`:
+
+   ```bash
+   git clone --recurse-submodules git@github.com:ZettaScaleLabs/zenoh-ts.git
+   ```
+
+   This also clones [zenoh-pico] according to the `.gitmodules` file.
+
+3. Build:
+
+   While in active development, running the command
+
+```bash
+  cd ./zenoh-ts
+```
+
+then
+
+```bash
+  npm run build
+```
+
+Will run the build pipeline of
+
+- Starting a Docker container containing the [Emscripten-SDK](https://emscripten.org/)
+- Building [zenoh-pico] to target WASM, using CMake + the Emscripten toolchain
+- Copying the artifacts from the build container to the host system
+- The artifacts include:
+  - `zenoh-wasm.js`
+  - `zenoh-wasm.wasm`
+  - `zenoh-wasm.worker.js`
+- The compiling the typescript interface to Javascript, and exporting a types declaration file.
+- Webpack to package
+
+[source]: https://github.com/ZettaScale-Labs/zenoh-ts.git
+[zenoh-pico]: https://github.com/eclipse-zenoh/zenoh-pico
+
+## Running the Examples
+
+Our Example structure, will have a pub/sub pair in the browser periodically putting,
+and a pub/sub pair locally on the command line to match,
+
+In order to run the examples, the user must:
+
+1. From the `./examples/web/` directory, start an instance of the web application.
+
+```bash
+npm install && npm run develop
+```
+
+2. Start an instance of `zenohd` with the websocket transport enabled.
+   This can be done by building the zenoh daemon `zenohd` from the Rust repo for [zenoh], and running the following command.
+
+```
+RUST_LOG=DEBUG ./zenohd -l tcp/[::]:7447 -l ws/[::]:10000
+```
+
+<!--
+RUST_LOG=DEBUG cargo run zenohd -- -l tcp/[::]:7447 -l ws/[::]:10000
+-->
+
+3.1. For publishing from a Typescript application to Zenoh you can run the `z_sub` example from [zenoh] and start a subscriber locally as follows:
+
+```
+RUST_LOG=DEBUG ./z_sub -k demo/recv/from/ts
+```
+
+3.2. For subscribing in a Typescript application on a Key Expression on Zenoh you can run the `z_pub` example from [zenoh] and start a subscriber locally as follows:
+
+```
+RUST_LOG=DEBUG ./z_pub -k demo/send/to/ts
+```
+
+The setup should look like this diagram below
+
+<img src="./example.png" >
+
+[zenoh]: https://github.com/eclipse-zenoh/zenoh
+
+### Known Limitations + Future
+
+This set of bindings to Typescript started out as a long running experiment to get a full implementation of the Zenoh protocol to compile and run natively in the browser.
+It was born out of the then state of the Rust [Zenoh] implementation not supporting targeting Web Assembly due to project and library structure.  
+At the time [Zenoh-pico] was ready to compile to WASM, and so this repository was born.  
+After much experimentation, we have discovered a number of long term drawbacks of Zenoh-pico -> WASM using the Emscripten compiler and have decided to move in a different direction.
+Between the many iterations of reducing interface, callback, async-compatability, and build complexity, to the limitations of Emscripten, we have found there are ways of getting Zenoh available to Typescript/Javascript developers with much lower development friction, both short term and long.
+
+What works today is `put`, `publisher` and _mostly_ `subscriber`,
+There is a recurring pthread issue when creating a `subscriber` that occurs when using this implementation (Async threaded TS <-> CPP interop != simple)
+
+We are open sourcing this Repo for the community to see what was implemented, play around with what works, and as an option to fix what does not, but ultimately offer no production ready gaurentees with this set of language bindings in its current state.
+
+We are switching focus to another, simpler and lower maintenence way of exposing Zenoh to a Typescript environment.  
+Look out in our blog for announcements as we continue to strive to produce quality, roboust, performant software.
diff --git a/example.png b/zenoh-ts/example.png
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diff --git a/example.svg b/zenoh-ts/example.svg
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diff --git a/examples/ros2_teleop/.gitignore b/zenoh-ts/examples/ros2_teleop/.gitignore
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rename from examples/ros2_teleop/.gitignore
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diff --git a/examples/ros2_teleop/README.md b/zenoh-ts/examples/ros2_teleop/README.md
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diff --git a/zenoh-ts/examples/ros2_teleop/package-lock.json b/zenoh-ts/examples/ros2_teleop/package-lock.json
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--- /dev/null
+++ b/zenoh-ts/examples/ros2_teleop/package-lock.json
@@ -0,0 +1,937 @@
+{
+  "name": "zenoh-ts",
+  "version": "0.0.0",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "": {
+      "name": "zenoh-ts",
+      "version": "0.0.0",
+      "dependencies": {
+        "@types/bytebuffer": "^5.0.49",
+        "@ZettaScaleLabs/zenoh-ts": "file:../../",
+        "bytebuffer": "^5.0.1",
+        "jscdr": "^0.0.3",
+        "tslog": "^4.9.3"
+      },
+      "devDependencies": {
+        "@types/uuid": "^10.0.0",
+        "typescript": "^5.2.2",
+        "vite": "^5.2.12"
+      }
+    },
+    "../..": {
+      "version": "0.0.2",
+      "license": "SEE LICENSE IN 'LICENSE'",
+      "dependencies": {
+        "channel-ts": "^0.1.2",
+        "cpx": "^1.5.0",
+        "fp-ts": "^2.16.5",
+        "object-inspect": "^1.13.1",
+        "request": "^2.79.0",
+        "text-encoding": "^0.7.0",
+        "ts-log": "^2.2.5",
+        "tslog": "^4.9.3",
+        "uuid": "^10.0.0"
+      },
+      "devDependencies": {
+        "@types/node": "20.9.1",
+        "@types/object-inspect": "^1.13.0",
+        "@types/uuid": "^10.0.0",
+        "ts-loader": "^9.5.0",
+        "ts-node": "10.9.1",
+        "typedoc": "^0.26.5",
+        "typescript": "^5.3.2",
+        "webpack-cli": "^5.1.4"
+      }
+    },
+    "../../esm": {
+      "extraneous": true
+    },
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+        "postcss": "^8.4.38",
+        "rollup": "^4.13.0"
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+        "lightningcss": "^1.21.0",
+        "sass": "*",
+        "stylus": "*",
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+        "terser": "^5.4.0"
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+}
diff --git a/examples/ros2_teleop/package.json b/zenoh-ts/examples/ros2_teleop/package.json
similarity index 100%
rename from examples/ros2_teleop/package.json
rename to zenoh-ts/examples/ros2_teleop/package.json
diff --git a/examples/ros2_teleop/public/vite.svg b/zenoh-ts/examples/ros2_teleop/public/vite.svg
similarity index 100%
rename from examples/ros2_teleop/public/vite.svg
rename to zenoh-ts/examples/ros2_teleop/public/vite.svg
diff --git a/zenoh-ts/examples/ros2_teleop/ros2-teleop.html b/zenoh-ts/examples/ros2_teleop/ros2-teleop.html
new file mode 100644
index 0000000..a72e883
--- /dev/null
+++ b/zenoh-ts/examples/ros2_teleop/ros2-teleop.html
@@ -0,0 +1,808 @@
+<!doctype html>
+<html>
+  <head>
+    <link
+      rel="stylesheet"
+      href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.1.1/css/all.min.css"
+    />
+    <link rel="stylesheet" href="https://www.w3schools.com/w3css/4/w3.css" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  </head>
+
+  <body class="w3-container">
+    <div class="w3-container w3-bar w3-card-4 w3-green w3-margin-bottom">
+      <h3 class="w3-bar-item">Zenoh ROS2 teleop</h3>
+      <h3 id="battery_label" class="w3-bar-item w3-right">Battery: - %</h3>
+    </div>
+
+    <div class="w3-row">
+      <div class="w3-col s2 m2 l2">
+        <label for="rest_api">Zenoh REST API:</label>
+      </div>
+      <div class="w3-col s5 m5 l5">
+        <input
+          id="rest_api"
+          class="w3-input w3-border w3-padding-small"
+          type="text"
+          required
+          value="http://demo.zenoh.io:8000/"
+        />
+      </div>
+    </div>
+    <div class="w3-row">
+      <div class="w3-col s2 m2 l2">
+        <label for="rest_api">Scope : </label>
+      </div>
+      <div class="w3-col s5 m5 l5">
+        <input
+          id="scope_input"
+          class="w3-input w3-border w3-padding-small w3-margin-right"
+          type="text"
+          required
+          value="simu"
+        />
+      </div>
+    </div>
+
+    <br />
+
+    <!-- If your robot has a camera and zcapture installed (from zenoh-demos/computer-vision/zcam/), uncomment this: 
+    
+    <div class="w3-card-4 w3-margin-bottom">
+        <header class="w3-bar w3-green" onclick="document.getElementById('Camera').classList.toggle('w3-hide');">
+            <h5 id="camera_label" class="w3-bar-item" style="margin: 0;">Camera</h5>
+            <h5 class="w3-bar-item w3-right" style="margin: 0;"><i class='fa fa-video-camera'></i></h5>
+        </header>
+        <div id="Camera" class="w3-container w3-padding">
+            <img id="camera_img" class="w3-container w3-padding" style="max-width: 95%; max-height: 300px;" src="" />
+        </div>
+        <br />
+    </div>
+    -->
+
+    <div class="w3-card-4 w3-margin-bottom">
+      <header
+        class="w3-bar w3-green"
+        onclick="document.getElementById('Drive').classList.toggle('w3-hide');"
+      >
+        <h5 id="drive_label" class="w3-bar-item" style="margin: 0">Drive</h5>
+        <h5 class="w3-bar-item w3-right" style="margin: 0">
+          <i class="fa fa-gamepad"></i>
+        </h5>
+      </header>
+      <div id="Drive" class="w3-container w3-padding">
+        <div class="w3-auto" style="display: grid; width: 12em; height: 9em">
+          <button
+            onmousedown="pubTwist(1.0, 0.0);"
+            onmouseup="pubTwist(0.0, 0.0);"
+            ontouchstart="pubTwist(1.0, 0.0);"
+            ontouchend="pubTwist(0.0, 0.0);"
+            style="font-size: 2em; grid-column: 2; grid-row: 1"
+          >
+            <i class="fas fa-caret-up"></i>
+          </button>
+          <button
+            onmousedown="pubTwist(0.0, 1.0);"
+            onmouseup="pubTwist(0.0, 0.0);"
+            ontouchstart="pubTwist(0.0, 1.0);"
+            ontouchend="pubTwist(0.0, 0.0);"
+            style="font-size: 2em; grid-column: 1; grid-row: 2"
+          >
+            <i class="fas fa-caret-left"></i>
+          </button>
+          <button
+            onmousedown="pubTwist(-1.0, 0.0);"
+            onmouseup="pubTwist(0.0, 0.0);"
+            ontouchstart="pubTwist(-1.0, 0.0);"
+            ontouchend="pubTwist(0.0, 0.0);"
+            style="font-size: 2em; grid-column: 2; grid-row: 2"
+          >
+            <i class="fas fa-caret-down"></i>
+          </button>
+          <button
+            onmousedown="pubTwist(0.0, -1.0);"
+            onmouseup="pubTwist(0.0, 0.0);"
+            ontouchstart="pubTwist(0.0, -1.0);"
+            ontouchend="pubTwist(0.0, 0.0);"
+            style="font-size: 2em; grid-column: 3; grid-row: 2"
+          >
+            <i class="fas fa-caret-right"></i>
+          </button>
+          <button
+            onclick="pubTwist(0.0, 0.0);"
+            style="font-size: 2em; grid-column: 1 / 4; grid-row: 3"
+          >
+            STOP
+          </button>
+        </div>
+        <br />
+      </div>
+    </div>
+
+    <div class="w3-card-4 w3-margin-bottom">
+      <header
+        class="w3-bar w3-green"
+        onclick="document.getElementById('Lidar').classList.toggle('w3-hide');"
+      >
+        <h5 id="lidar_label" class="w3-bar-item" style="margin: 0">Lidar</h5>
+        <h5 class="w3-bar-item w3-right" style="margin: 0">
+          <i class="fa fa-line-chart"></i>
+        </h5>
+      </header>
+      <div
+        id="Lidar"
+        class="w3-container w3-padding"
+        style="width: 95%; height: 300px"
+      >
+        <canvas id="Lidar-canvas" width="300" height="300"></canvas>
+      </div>
+      <br />
+    </div>
+
+    <div class="w3-card-4 w3-margin-bottom">
+      <header
+        class="w3-bar w3-green"
+        onclick="document.getElementById('Logs').classList.toggle('w3-hide');"
+      >
+        <h5 id="logs_label" class="w3-bar-item" style="margin: 0">Logs</h5>
+        <h5 class="w3-bar-item w3-right" style="margin: 0">
+          <i class="fa fa-envelope"></i>
+        </h5>
+      </header>
+      <div id="Logs" class="w3-container w3-padding">
+        <div
+          style="overflow: auto; height: 200px; border: 1px solid black"
+          id="rosout_logs"
+        ></div>
+      </div>
+    </div>
+
+    <div class="w3-card-4 w3-margin-bottom">
+      <header
+        class="w3-bar w3-green"
+        onclick="document.getElementById('Config').classList.toggle('w3-hide');"
+      >
+        <h5 class="w3-bar-item" style="margin: 0">Config</h5>
+        <h5 class="w3-bar-item w3-right" style="margin: 0">
+          <i class="fa fa-gear"></i>
+        </h5>
+      </header>
+      <form id="Config" class="w3-container w3-hide">
+        <label for="linear_scale">Linear scale:</label>
+        <input
+          id="linear_scale"
+          class="w3-input w3-border w3-padding-small"
+          type="number"
+          required
+          value="10"
+        /><br />
+        <label for="angular_scale">Angular scale:</label>
+        <input
+          id="angular_scale"
+          class="w3-input w3-border w3-padding-small"
+          type="number"
+          required
+          value="20"
+        /><br />
+      </form>
+    </div>
+
+    <script src="https://cdn.jsdelivr.net/npm/bytebuffer@5.0.1"></script>
+    <script src="https://cdn.jsdelivr.net/npm/jscdr@0.0.1"></script>
+    <!-- <script src="https://cdn.jsdelivr.net/npm/jscdr@0.0.1"></script> -->
+    <script>
+      // ROS2 topic names
+      const TOPIC_DRIVE = "cmd_vel";
+      const TOPIC_LIDAR = "scan";
+      const TOPIC_BATTERY = "battery_state";
+      const TOPIC_LOGS = "rosout";
+
+      // MQTT topic name (for logging)
+      const TOPIC_MQTT = "zigbee2mqtt/device/**";
+
+      // Get "rest" and "scope" from URL params, and set "rest_api" and "scope_input" elements accordingly
+      const urlParams = new URLSearchParams(window.location.search);
+      const restParam = urlParams.get("rest");
+      if (restParam != null && restParam.length > 0) {
+        console.log("Set REST API from URL params: " + restParam);
+        document.getElementById("rest_api").value = restParam;
+      }
+      const scopeParam = urlParams.get("scope");
+      if (scopeParam != null && scopeParam.length > 0) {
+        console.log("Set custom scope from URL params: " + scopeParam);
+        document.getElementById("scope_input").value = scopeParam;
+      }
+
+      // Add listener for input changes REST API and Scope inputs
+      document
+        .getElementById("rest_api")
+        .addEventListener("change", (event) => {
+          reloadPage(
+            event.target.value,
+            document.getElementById("scope_input").value,
+          );
+        });
+      document
+        .getElementById("scope_input")
+        .addEventListener("change", (event) => {
+          reloadPage(
+            document.getElementById("rest_api").value,
+            event.target.value,
+          );
+        });
+      function reloadPage(rest, s) {
+        window.location.search = "rest=" + rest + "&scope=" + s;
+      }
+
+      // The REST API URL
+      var rest_api = document.getElementById("rest_api").value;
+
+      // The scope (used as a prefix for all Zenoh keys to publish and subscribe if not containing '*')
+      var scope = document.getElementById("scope_input").value;
+      if (scope.length > 0 && !scope.endsWith("/")) {
+        scope += "/";
+      }
+      // If scope contains '*', default to "bot1" for subscription to avoid display conflicts of camera+lidar
+      var sub_scope = scope.includes("*") ? "bot1/" : scope;
+
+      /////////////////////////
+      //  Twist publication  //
+      /////////////////////////
+
+      // Update Drive label
+      let elem = document.getElementById("drive_label");
+      elem.innerHTML = "Drive ( " + scope + TOPIC_DRIVE + " )";
+
+      // HTTP client to call the REST API
+      const Http = new XMLHttpRequest();
+
+      // Function to publish a Twist to cmd_vel topic
+      function pubTwist(linear, angular) {
+        // Get scales from HTML
+        var linear_scale = document.getElementById("linear_scale").value;
+        var angular_scale = document.getElementById("angular_scale").value;
+
+        // Create a Twist message
+        var twist = new Twist(
+          new Vector3(linear * linear_scale, 0.0, 0.0),
+          new Vector3(0.0, 0.0, angular * angular_scale),
+        );
+        console.log(twist);
+        // Since it's going to DDS, encode it using a jscdr.CDRWriter
+        var writer = new jscdr.CDRWriter();
+        twist.encode(writer);
+
+        // The key expression for publication
+        var key_expr = scope + TOPIC_DRIVE;
+        console.log("Send cmd_vel to " + rest_api + key_expr);
+
+        console.log(writer.buf.buffer.length);
+
+        // PUT it to zenoh via its REST API
+        Http.open("PUT", rest_api + key_expr, true);
+        Http.setRequestHeader("Content-Type", "application/octet-stream");
+        Http.send(writer.buf.buffer);
+      }
+
+      // callback on keyboard's down key event
+      function onkeydown(e) {
+        e = e || window.event;
+        console.log("KeyPressed: " + e);
+        if (e.keyCode == "38") {
+          // up arrow
+          pubTwist(1.0, 0.0);
+        } else if (e.keyCode == "40") {
+          // down arrow
+          pubTwist(-1.0, 0.0);
+        } else if (e.keyCode == "37") {
+          // left arrow
+          pubTwist(0.0, 1.0);
+        } else if (e.keyCode == "39") {
+          // right arrow
+          pubTwist(0.0, -1.0);
+        } else if (e.keyCode == "32") {
+          // spacebar
+          pubTwist(0.0, 0.0);
+        }
+      }
+      // register callback on key down
+      document.onkeydown = onkeydown;
+
+      // callback on keyboard's up key event
+      function onkeyup(e) {
+        // if key pressed was an arrow, send a Twist(0,0) to stop the robot
+        if (
+          e.keyCode == "37" ||
+          e.keyCode == "38" ||
+          e.keyCode == "39" ||
+          e.keyCode == "40"
+        )
+          pubTwist(0.0, 0.0);
+      }
+      // register callback on key up
+      document.onkeyup = onkeyup;
+
+      ////////////////////////////
+      //  Battery subscription  //
+      ////////////////////////////
+      var battery_source = null;
+
+      // Test if Server-Source Event is supported
+      if (typeof EventSource !== "undefined") {
+        // the key expression to subscribe
+        var key_expr = sub_scope + TOPIC_BATTERY;
+
+        // Create EventSource for subscription to key_expr
+        console.log("Subscribe to EventSource: " + rest_api + key_expr);
+        battery_source = new EventSource(rest_api + key_expr);
+        battery_source.addEventListener(
+          "PUT",
+          function (e) {
+            console.log("Received sample: " + e.data);
+            // The zenoh REST API sends JSON objects
+            // that includes "key", "value", "encoding" and "time" (same than a result to GET)
+            let sample = JSON.parse(e.data);
+            // The payload buffer is in "value" field, encoded as base64.
+            // Since it's comming from DDS, we decode it using a jscdr.CDRReader.
+            let reader = new jscdr.CDRReader(
+              dcodeIO.ByteBuffer.fromBase64(sample.value),
+            );
+            // Decode the buffer as a BatteryState message
+            let battery = BatteryState.decode(reader);
+            // Set it to "battery" HTML element
+            let elem = document.getElementById("battery_label");
+            elem.innerHTML =
+              "Battery: " + Math.round(battery.percentage) + " %";
+          },
+          false,
+        );
+      } else {
+        document.getElementById("rosout_logs").innerHTML =
+          "Sorry, your browser does not support server-sent events...";
+      }
+
+      //////////////////////////////////////////////////////////////////
+      //  Camera subscription (as motion-JPEG via WebService plugin)  //
+      //////////////////////////////////////////////////////////////////
+
+      // If your robot has a camera and zcapture installed (from zenoh-demos/computer-vision/zcam/):
+      // the zcapture must be started with "-k <scope>/camera", and the zenoh router must have the WebServer plugin running
+      if (document.getElementById("camera_img") != null) {
+        // update Camera label
+        let elem = document.getElementById("camera_label");
+        elem.innerHTML = "Camera ( " + sub_scope + "camera )";
+
+        // Set "camera_img" element's src to the same URL host, but with port 8080 (WebServer plugin)
+        // and with path: "<scope>/camera?_method=SUB"
+        img_url =
+          rest_api.replace(":8000", ":8080") + sub_scope + "camera?_method=SUB";
+        document.getElementById("camera_img").src = img_url;
+      }
+
+      ///////////////////////////////
+      //    Lidar subscription     //
+      ///////////////////////////////
+      var lidar_source = null;
+
+      // Test if Server-Source Event is supported
+      if (typeof EventSource !== "undefined") {
+        // the key expression to subscribe
+        var key_expr = sub_scope + TOPIC_LIDAR;
+
+        // update Lidar label
+        let elem = document.getElementById("lidar_label");
+        elem.innerHTML = "Lidar ( " + key_expr + " )";
+
+        // Get canvas context and get its dimensions
+        const canvas = document.getElementById("Lidar-canvas");
+        const ctx = canvas.getContext("2d");
+        const width = canvas.width;
+        const height = canvas.height;
+
+        // Clear canvas
+        ctx.clearRect(0, 0, width, height);
+
+        // Create EventSource for subscription to key_expr
+        console.log("Subscribe to EventSource: " + rest_api + key_expr);
+        console.log("OLD Lidar EventSource " + lidar_source);
+        lidar_source = new EventSource(rest_api + key_expr);
+        lidar_source.onmessage = function (e) {
+          console.log("!!!!! ERR: " + e);
+        };
+        console.log("NEW Lidar EventSource " + lidar_source.url);
+        lidar_source.addEventListener(
+          "PUT",
+          function (e) {
+            let sample = JSON.parse(e.data);
+            // The payload buffer is in "value" field, encoded as base64.
+            // Since it's comming from DDS, we decode it using a jscdr.CDRReader.
+            let reader = new jscdr.CDRReader(
+              dcodeIO.ByteBuffer.fromBase64(sample.value),
+            );
+            // Decode the buffer as an LaserScan message
+            let scan = LaserScan.decode(reader);
+
+            // Force range_max to 3.5 for consistency between robots
+            max_range_displayed = 3.5;
+            //max_range_displayed = scan.range_max
+
+            // Convert to [x,y, isInRange] points, where:
+            //  - if isInRange==true then {x,y} are the relative coordinates computed from {angle,range}
+            //  - if isInRange==false then the range was out of range_min/range_max and {x,y} are the relative
+            //    coordinate of {angle,LIMIT} where LIMIT is range_max or range_min (the closest bound).
+            let angle = -3.1415927410125732;
+            let scale =
+              Math.min(canvas.width, canvas.height) / 2 / max_range_displayed;
+            let points = [];
+            for (const range of scan.ranges) {
+              var r = range;
+              var isInRange = true;
+              if (range > scan.range_max) {
+                r = scan.range_max;
+                isInRange = false;
+              } else if (range < scan.range_min) {
+                r = scan.range_min;
+                isInRange = false;
+              }
+
+              const x = r * scale * Math.sin(angle);
+              const y = r * scale * Math.cos(angle);
+              points.push([x, y, isInRange]);
+              angle += scan.angle_increment;
+            }
+
+            // Clear canvas
+            ctx.clearRect(0, 0, width, height);
+
+            // Draw rays
+            ctx.lineWidth = 2;
+            for (const [x, y, isInRange] of points) {
+              ctx_x = x + width / 2;
+              ctx_y = y + height / 2;
+              ctx.beginPath();
+              if (isInRange) {
+                ctx.strokeStyle = "LightGray";
+              } else {
+                ctx.strokeStyle = "Gainsboro";
+              }
+              ctx.moveTo(width / 2, height / 2);
+              ctx.lineTo(ctx_x, ctx_y);
+              ctx.stroke();
+            }
+
+            // Draw points
+            ctx.fillStyle = "red";
+            for (const [x, y, isInRange] of points) {
+              ctx_x = x + width / 2;
+              ctx_y = y + height / 2;
+              if (isInRange) {
+                ctx.fillRect(ctx_x, ctx_y, 1, 1);
+              }
+            }
+
+            // Draw axis lines
+            ctx.beginPath();
+            ctx.strokeStyle = "DimGray";
+            ctx.lineWidth = 1;
+            ctx.moveTo(0, height / 2);
+            ctx.lineTo(width, height / 2);
+            ctx.moveTo(width / 2, 0);
+            ctx.lineTo(width / 2, height);
+            ctx.stroke();
+          },
+          false,
+        );
+      } else {
+        document.document.getElementById("Lidar").innerHTML =
+          "Sorry, your browser does not support server-sent events...";
+      }
+
+      //////////////////////////////////
+      //    Logs subscription (ROS2)  //
+      //////////////////////////////////
+      var ros2_logs_source = null;
+
+      // Test if Server-Source Event is supported
+      if (typeof EventSource !== "undefined") {
+        // the key expression to subscribe
+        var key_expr = sub_scope + TOPIC_LOGS;
+
+        // update Lidar label
+        let elem = document.getElementById("logs_label");
+        elem.innerHTML = "Logs ( " + key_expr + " + " + TOPIC_MQTT + " )";
+
+        // Create EventSource for subscription to key_expr
+        console.log("Subscribe to EventSource: " + rest_api + key_expr);
+        ros2_logs_source = new EventSource(rest_api + key_expr);
+        ros2_logs_source.addEventListener(
+          "PUT",
+          function (e) {
+            console.log("Received sample: " + e.data);
+            // The zenoh REST API sends JSON objects
+            // that includes "key", "value", "encoding" and "time" (same than a result to GET)
+            let sample = JSON.parse(e.data);
+            // The payload buffer is in "value" field, encoded as base64.
+            // Since it's comming from DDS, we decode it using a jscdr.CDRReader.
+            let reader = new jscdr.CDRReader(
+              dcodeIO.ByteBuffer.fromBase64(sample.value),
+            );
+            // Decode the buffer as a Log message
+            let log = Log.decode(reader);
+            // Add it to "rosout_logs" HTML element
+            let elem = document.getElementById("rosout_logs");
+            elem.innerHTML +=
+              "ROS2: [" +
+              log.time.sec +
+              "." +
+              log.time.nsec +
+              "] [" +
+              log.name +
+              "]: " +
+              log.msg +
+              "<br>";
+            // Auto-scroll to the bottom
+            elem.scrollTop = elem.scrollHeight;
+          },
+          false,
+        );
+      } else {
+        document.getElementById("rosout_logs").innerHTML =
+          "Sorry, your browser does not support server-sent events...";
+      }
+
+      //////////////////////////////////
+      //    Logs subscription (MQTT)  //
+      //////////////////////////////////
+      var mqtt_logs_source = null;
+
+      // Test if Server-Source Event is supported
+      if (typeof EventSource !== "undefined") {
+        // the key expression to subscribe (no scope used by MQTT bridge as only 1)
+        var key_expr = TOPIC_MQTT;
+
+        console.log("Subscribe to EventSource: " + rest_api + key_expr);
+        ros2_logs_source = new EventSource(rest_api + key_expr);
+        ros2_logs_source.addEventListener(
+          "PUT",
+          function (e) {
+            console.log("Received sample: " + e.data);
+            // The zenoh REST API sends JSON objects
+            // that includes "key", "value", "encoding" and "time" (same than a result to GET)
+            let sample = JSON.parse(e.data);
+            // Add it to "rosout_logs" HTML element
+            let elem = document.getElementById("rosout_logs");
+            elem.innerHTML +=
+              "MQTT: on " +
+              sample.key +
+              " : " +
+              JSON.stringify(sample.value) +
+              "<br>";
+            // Auto-scroll to the bottom
+            elem.scrollTop = elem.scrollHeight;
+          },
+          false,
+        );
+      } else {
+        document.getElementById("rosout_logs").innerHTML =
+          "Sorry, your browser does not support server-sent events...";
+      }
+
+      /////////////////////////////////////////////////////////////
+      // ROS2 Types declaration with CDR encode/decode functions //
+      /////////////////////////////////////////////////////////////
+
+      // ROS2 Time type
+      class Time {
+        constructor(sec, nsec) {
+          this.sec = sec;
+          this.nsec = nsec;
+        }
+
+        static decode(cdrReader) {
+          let sec = cdrReader.readInt32();
+          let nsec = cdrReader.readUint32();
+          return new Time(sec, nsec);
+        }
+      }
+
+      // ROS2 Log type (received in 'rosout' topic)
+      class Log {
+        constructor(time, level, name, msg, file, fn, line) {
+          this.time = time;
+          this.level = level;
+          this.name = name;
+          this.msg = msg;
+          this.file = file;
+          this.fn = fn;
+          this.line = line;
+        }
+
+        static decode(cdrReader) {
+          let time = Time.decode(cdrReader);
+          let level = cdrReader.readByte();
+          let name = cdrReader.readString();
+          let msg = cdrReader.readString();
+          let file = cdrReader.readString();
+          let fn = cdrReader.readString();
+          let line = cdrReader.readUint32();
+          return new Log(time, level, name, msg, file, fn, line);
+        }
+      }
+
+      // ROS2 Vector3 type
+      class Vector3 {
+        constructor(x, y, z) {
+          this.x = x;
+          this.y = y;
+          this.z = z;
+        }
+
+        encode(cdrWriter) {
+          cdrWriter.writeFloat64(this.x);
+          cdrWriter.writeFloat64(this.y);
+          cdrWriter.writeFloat64(this.z);
+        }
+
+        static decode(cdrReader) {
+          let x = cdrReader.readFloat64();
+          let y = cdrReader.readFloat64();
+          let z = cdrReader.readFloat64();
+          return new Vector3(x, y, z);
+        }
+      }
+
+      // ROS2 Quaternion type
+      class Quaternion {
+        constructor(x, y, z, w) {
+          this.x = x;
+          this.y = y;
+          this.z = z;
+          this.w = w;
+        }
+
+        static decode(cdrReader) {
+          let x = cdrReader.readFloat64();
+          let y = cdrReader.readFloat64();
+          let z = cdrReader.readFloat64();
+          let w = cdrReader.readFloat64();
+          return new Quaternion(x, y, z, w);
+        }
+      }
+
+      // ROS2 Twist type (published in 'cmd_vel' topic)
+      class Twist {
+        constructor(linear, angular) {
+          this.linear = linear;
+          this.angular = angular;
+        }
+
+        encode(cdrWriter) {
+          this.linear.encode(cdrWriter);
+          this.angular.encode(cdrWriter);
+        }
+      }
+
+      // ROS2 Header type
+      class Header {
+        constructor(time, frame_id) {
+          this.time = time;
+          this.frame_id = frame_id;
+        }
+
+        static decode(cdrReader) {
+          let time = Time.decode(cdrReader);
+          let frame_id = cdrReader.readString();
+        }
+      }
+
+      // ROS2 BatteryState type (received in 'battery_state' topic)
+      // Warning: not complete, since we only need to decode up-to 'percentage'
+      class BatteryState {
+        constructor(
+          header,
+          voltage,
+          temperature,
+          current,
+          charge,
+          capacity,
+          design_capacity,
+          percentage,
+        ) {
+          this.header = header;
+          this.voltage = voltage;
+          this.temperature = temperature;
+          this.current = current;
+          this.charge = charge;
+          this.capacity = capacity;
+          this.design_capacity = design_capacity;
+          this.percentage = percentage;
+        }
+
+        static decode(cdrReader) {
+          let header = Header.decode(cdrReader);
+          let voltage = cdrReader.readFloat32();
+          let temperature = cdrReader.readFloat32();
+          let current = cdrReader.readFloat32();
+          let charge = cdrReader.readFloat32();
+          let capacity = cdrReader.readFloat32();
+          let design_capacity = cdrReader.readFloat32();
+          let percentage = cdrReader.readFloat32();
+          return new BatteryState(
+            header,
+            voltage,
+            temperature,
+            current,
+            charge,
+            capacity,
+            design_capacity,
+            percentage,
+          );
+        }
+      }
+
+      // ROS2 LaserScan type (received in 'scan' topic)
+      class LaserScan {
+        constructor(
+          header,
+          angle_min,
+          angle_max,
+          angle_increment,
+          time_increment,
+          scan_time,
+          range_min,
+          range_max,
+          ranges,
+          intensities,
+        ) {
+          this.header = header;
+          this.angle_min = angle_min;
+          this.angle_max = angle_max;
+          this.angle_increment = angle_increment;
+          this.time_increment = time_increment;
+          this.scan_time = scan_time;
+          this.range_min = range_min;
+          this.range_max = range_max;
+          this.ranges = ranges;
+          this.intensities = intensities;
+        }
+
+        static decode(cdrReader) {
+          let header = Header.decode(cdrReader);
+          let angle_min = cdrReader.readFloat32();
+          let angle_max = cdrReader.readFloat32();
+          let angle_increment = cdrReader.readFloat32();
+          let time_increment = cdrReader.readFloat32();
+          let scan_time = cdrReader.readFloat32();
+          let range_min = cdrReader.readFloat32();
+          let range_max = cdrReader.readFloat32();
+
+          let ranges_length = cdrReader.readInt32();
+          let ranges = [];
+          for (const x of Array(ranges_length).keys()) {
+            ranges.push(cdrReader.readFloat32());
+          }
+
+          let intensities_length = cdrReader.readInt32();
+          let intensities = [];
+          for (const x of Array(intensities_length).keys()) {
+            intensities.push(cdrReader.readFloat32());
+          }
+          return new LaserScan(
+            header,
+            angle_min,
+            angle_max,
+            angle_increment,
+            time_increment,
+            scan_time,
+            range_min,
+            range_max,
+            ranges,
+            intensities,
+          );
+        }
+      }
+    </script>
+
+    <script type="text/javascript"></script>
+  </body>
+</html>
diff --git a/examples/ros2_teleop/src/main.ts b/zenoh-ts/examples/ros2_teleop/src/main.ts
similarity index 100%
rename from examples/ros2_teleop/src/main.ts
rename to zenoh-ts/examples/ros2_teleop/src/main.ts
diff --git a/examples/ros2_teleop/src/ros2_types.ts b/zenoh-ts/examples/ros2_teleop/src/ros2_types.ts
similarity index 100%
rename from examples/ros2_teleop/src/ros2_types.ts
rename to zenoh-ts/examples/ros2_teleop/src/ros2_types.ts
diff --git a/examples/ros2_teleop/src/style.css b/zenoh-ts/examples/ros2_teleop/src/style.css
similarity index 100%
rename from examples/ros2_teleop/src/style.css
rename to zenoh-ts/examples/ros2_teleop/src/style.css
diff --git a/examples/ros2_teleop/src/typescript.svg b/zenoh-ts/examples/ros2_teleop/src/typescript.svg
similarity index 100%
rename from examples/ros2_teleop/src/typescript.svg
rename to zenoh-ts/examples/ros2_teleop/src/typescript.svg
diff --git a/examples/ros2_teleop/src/vite-env.d.ts b/zenoh-ts/examples/ros2_teleop/src/vite-env.d.ts
similarity index 100%
rename from examples/ros2_teleop/src/vite-env.d.ts
rename to zenoh-ts/examples/ros2_teleop/src/vite-env.d.ts
diff --git a/examples/ros2_teleop/src/webpage.ts b/zenoh-ts/examples/ros2_teleop/src/webpage.ts
similarity index 100%
rename from examples/ros2_teleop/src/webpage.ts
rename to zenoh-ts/examples/ros2_teleop/src/webpage.ts
diff --git a/examples/ros2_teleop/tsconfig.json b/zenoh-ts/examples/ros2_teleop/tsconfig.json
similarity index 100%
rename from examples/ros2_teleop/tsconfig.json
rename to zenoh-ts/examples/ros2_teleop/tsconfig.json
diff --git a/examples/ros2_teleop/vite.config.js b/zenoh-ts/examples/ros2_teleop/vite.config.js
similarity index 100%
rename from examples/ros2_teleop/vite.config.js
rename to zenoh-ts/examples/ros2_teleop/vite.config.js
diff --git a/examples/ros2_teleop/yarn.lock b/zenoh-ts/examples/ros2_teleop/yarn.lock
similarity index 100%
rename from examples/ros2_teleop/yarn.lock
rename to zenoh-ts/examples/ros2_teleop/yarn.lock
diff --git a/examples/zenoh-ts/.gitignore b/zenoh-ts/examples/zenoh-ts/.gitignore
similarity index 100%
rename from examples/zenoh-ts/.gitignore
rename to zenoh-ts/examples/zenoh-ts/.gitignore
diff --git a/examples/zenoh-ts/index.html b/zenoh-ts/examples/zenoh-ts/index.html
similarity index 100%
rename from examples/zenoh-ts/index.html
rename to zenoh-ts/examples/zenoh-ts/index.html
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new file mode 100644
index 0000000..9e469ea
--- /dev/null
+++ b/zenoh-ts/examples/zenoh-ts/package-lock.json
@@ -0,0 +1,931 @@
+{
+  "name": "zenoh-ts",
+  "version": "0.0.0",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "": {
+      "name": "zenoh-ts",
+      "version": "0.0.0",
+      "dependencies": {
+        "@ZettaScaleLabs/zenoh-ts": "file:../../",
+        "jscdr": "0.0.3",
+        "tslog": "^4.9.3"
+      },
+      "devDependencies": {
+        "@types/uuid": "^10.0.0",
+        "typescript": "^5.2.2",
+        "vite": "^5.2.12"
+      }
+    },
+    "../..": {
+      "name": "@ZettaScaleLabs/zenoh-ts",
+      "version": "0.0.1",
+      "license": "SEE LICENSE IN 'LICENSE'",
+      "dependencies": {
+        "channel-ts": "^0.1.2",
+        "cpx": "^1.5.0",
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+}
diff --git a/examples/zenoh-ts/package.json b/zenoh-ts/examples/zenoh-ts/package.json
similarity index 100%
rename from examples/zenoh-ts/package.json
rename to zenoh-ts/examples/zenoh-ts/package.json
diff --git a/examples/zenoh-ts/public/vite.svg b/zenoh-ts/examples/zenoh-ts/public/vite.svg
similarity index 100%
rename from examples/zenoh-ts/public/vite.svg
rename to zenoh-ts/examples/zenoh-ts/public/vite.svg
diff --git a/examples/zenoh-ts/src/main.ts b/zenoh-ts/examples/zenoh-ts/src/main.ts
similarity index 100%
rename from examples/zenoh-ts/src/main.ts
rename to zenoh-ts/examples/zenoh-ts/src/main.ts
diff --git a/examples/zenoh-ts/src/style.css b/zenoh-ts/examples/zenoh-ts/src/style.css
similarity index 100%
rename from examples/zenoh-ts/src/style.css
rename to zenoh-ts/examples/zenoh-ts/src/style.css
diff --git a/examples/zenoh-ts/src/typescript.svg b/zenoh-ts/examples/zenoh-ts/src/typescript.svg
similarity index 100%
rename from examples/zenoh-ts/src/typescript.svg
rename to zenoh-ts/examples/zenoh-ts/src/typescript.svg
diff --git a/examples/zenoh-ts/src/vite-env.d.ts b/zenoh-ts/examples/zenoh-ts/src/vite-env.d.ts
similarity index 100%
rename from examples/zenoh-ts/src/vite-env.d.ts
rename to zenoh-ts/examples/zenoh-ts/src/vite-env.d.ts
diff --git a/examples/zenoh-ts/src/webpage.ts b/zenoh-ts/examples/zenoh-ts/src/webpage.ts
similarity index 100%
rename from examples/zenoh-ts/src/webpage.ts
rename to zenoh-ts/examples/zenoh-ts/src/webpage.ts
diff --git a/examples/zenoh-ts/src/z_delete.ts b/zenoh-ts/examples/zenoh-ts/src/z_delete.ts
similarity index 100%
rename from examples/zenoh-ts/src/z_delete.ts
rename to zenoh-ts/examples/zenoh-ts/src/z_delete.ts
diff --git a/examples/zenoh-ts/src/z_get.ts b/zenoh-ts/examples/zenoh-ts/src/z_get.ts
similarity index 100%
rename from examples/zenoh-ts/src/z_get.ts
rename to zenoh-ts/examples/zenoh-ts/src/z_get.ts
diff --git a/examples/zenoh-ts/src/z_ping.ts b/zenoh-ts/examples/zenoh-ts/src/z_ping.ts
similarity index 100%
rename from examples/zenoh-ts/src/z_ping.ts
rename to zenoh-ts/examples/zenoh-ts/src/z_ping.ts
diff --git a/examples/zenoh-ts/src/z_pong.ts b/zenoh-ts/examples/zenoh-ts/src/z_pong.ts
similarity index 100%
rename from examples/zenoh-ts/src/z_pong.ts
rename to zenoh-ts/examples/zenoh-ts/src/z_pong.ts
diff --git a/examples/zenoh-ts/src/z_pub.ts b/zenoh-ts/examples/zenoh-ts/src/z_pub.ts
similarity index 100%
rename from examples/zenoh-ts/src/z_pub.ts
rename to zenoh-ts/examples/zenoh-ts/src/z_pub.ts
diff --git a/examples/zenoh-ts/src/z_queryable.ts b/zenoh-ts/examples/zenoh-ts/src/z_queryable.ts
similarity index 100%
rename from examples/zenoh-ts/src/z_queryable.ts
rename to zenoh-ts/examples/zenoh-ts/src/z_queryable.ts
diff --git a/examples/zenoh-ts/src/z_sub.ts b/zenoh-ts/examples/zenoh-ts/src/z_sub.ts
similarity index 89%
rename from examples/zenoh-ts/src/z_sub.ts
rename to zenoh-ts/examples/zenoh-ts/src/z_sub.ts
index f48da92..8504f9f 100644
--- a/examples/zenoh-ts/src/z_sub.ts
+++ b/zenoh-ts/examples/zenoh-ts/src/z_sub.ts
@@ -1,3 +1,4 @@
+import { TextDeserializer } from "../../../dist/z_bytes";
 import "./style.css";
 import "./webpage.ts";
 
@@ -8,7 +9,7 @@ export async function main_sub() {
 
   const subscriber_callback = async function (sample: Sample): Promise<void> {
     console.log("    cb demo 1 :  Key_expr ", sample.keyexpr());
-    console.log("    cb demo 1 :  Value    ", sample.payload());
+    console.log("    cb demo 1 :  Value    ", sample.payload().deserialize(new TextDeserializer()));
   };
 
   // Callback Subscriber tkae a callback which will be called upon every sample received.
diff --git a/examples/zenoh-ts/src/z_sub_thr.ts b/zenoh-ts/examples/zenoh-ts/src/z_sub_thr.ts
similarity index 100%
rename from examples/zenoh-ts/src/z_sub_thr.ts
rename to zenoh-ts/examples/zenoh-ts/src/z_sub_thr.ts
diff --git a/examples/zenoh-ts/tsconfig.json b/zenoh-ts/examples/zenoh-ts/tsconfig.json
similarity index 100%
rename from examples/zenoh-ts/tsconfig.json
rename to zenoh-ts/examples/zenoh-ts/tsconfig.json
diff --git a/examples/zenoh-ts/vite.config.js b/zenoh-ts/examples/zenoh-ts/vite.config.js
similarity index 100%
rename from examples/zenoh-ts/vite.config.js
rename to zenoh-ts/examples/zenoh-ts/vite.config.js
diff --git a/examples/zenoh-ts/yarn.lock b/zenoh-ts/examples/zenoh-ts/yarn.lock
similarity index 100%
rename from examples/zenoh-ts/yarn.lock
rename to zenoh-ts/examples/zenoh-ts/yarn.lock
diff --git a/package.json b/zenoh-ts/package.json
similarity index 100%
rename from package.json
rename to zenoh-ts/package.json
diff --git a/src/config.ts b/zenoh-ts/src/config.ts
similarity index 100%
rename from src/config.ts
rename to zenoh-ts/src/config.ts
diff --git a/src/encoding.ts b/zenoh-ts/src/encoding.ts
similarity index 100%
rename from src/encoding.ts
rename to zenoh-ts/src/encoding.ts
diff --git a/src/index.ts b/zenoh-ts/src/index.ts
similarity index 100%
rename from src/index.ts
rename to zenoh-ts/src/index.ts
diff --git a/src/key_expr.ts b/zenoh-ts/src/key_expr.ts
similarity index 100%
rename from src/key_expr.ts
rename to zenoh-ts/src/key_expr.ts
diff --git a/src/pubsub.ts b/zenoh-ts/src/pubsub.ts
similarity index 100%
rename from src/pubsub.ts
rename to zenoh-ts/src/pubsub.ts
diff --git a/src/query.ts b/zenoh-ts/src/query.ts
similarity index 100%
rename from src/query.ts
rename to zenoh-ts/src/query.ts
diff --git a/src/remote_api/interface/ControlMsg.ts b/zenoh-ts/src/remote_api/interface/ControlMsg.ts
similarity index 100%
rename from src/remote_api/interface/ControlMsg.ts
rename to zenoh-ts/src/remote_api/interface/ControlMsg.ts
diff --git a/src/remote_api/interface/DataMsg.ts b/zenoh-ts/src/remote_api/interface/DataMsg.ts
similarity index 100%
rename from src/remote_api/interface/DataMsg.ts
rename to zenoh-ts/src/remote_api/interface/DataMsg.ts
diff --git a/src/remote_api/interface/OwnedKeyExprWrapper.ts b/zenoh-ts/src/remote_api/interface/OwnedKeyExprWrapper.ts
similarity index 100%
rename from src/remote_api/interface/OwnedKeyExprWrapper.ts
rename to zenoh-ts/src/remote_api/interface/OwnedKeyExprWrapper.ts
diff --git a/src/remote_api/interface/QueryReplyVariant.ts b/zenoh-ts/src/remote_api/interface/QueryReplyVariant.ts
similarity index 100%
rename from src/remote_api/interface/QueryReplyVariant.ts
rename to zenoh-ts/src/remote_api/interface/QueryReplyVariant.ts
diff --git a/src/remote_api/interface/QueryReplyWS.ts b/zenoh-ts/src/remote_api/interface/QueryReplyWS.ts
similarity index 100%
rename from src/remote_api/interface/QueryReplyWS.ts
rename to zenoh-ts/src/remote_api/interface/QueryReplyWS.ts
diff --git a/src/remote_api/interface/QueryWS.ts b/zenoh-ts/src/remote_api/interface/QueryWS.ts
similarity index 100%
rename from src/remote_api/interface/QueryWS.ts
rename to zenoh-ts/src/remote_api/interface/QueryWS.ts
diff --git a/src/remote_api/interface/QueryableMsg.ts b/zenoh-ts/src/remote_api/interface/QueryableMsg.ts
similarity index 100%
rename from src/remote_api/interface/QueryableMsg.ts
rename to zenoh-ts/src/remote_api/interface/QueryableMsg.ts
diff --git a/src/remote_api/interface/RemoteAPIMsg.ts b/zenoh-ts/src/remote_api/interface/RemoteAPIMsg.ts
similarity index 100%
rename from src/remote_api/interface/RemoteAPIMsg.ts
rename to zenoh-ts/src/remote_api/interface/RemoteAPIMsg.ts
diff --git a/src/remote_api/interface/ReplyErrorWS.ts b/zenoh-ts/src/remote_api/interface/ReplyErrorWS.ts
similarity index 100%
rename from src/remote_api/interface/ReplyErrorWS.ts
rename to zenoh-ts/src/remote_api/interface/ReplyErrorWS.ts
diff --git a/src/remote_api/interface/ReplyWS.ts b/zenoh-ts/src/remote_api/interface/ReplyWS.ts
similarity index 100%
rename from src/remote_api/interface/ReplyWS.ts
rename to zenoh-ts/src/remote_api/interface/ReplyWS.ts
diff --git a/src/remote_api/interface/SampleKindWS.ts b/zenoh-ts/src/remote_api/interface/SampleKindWS.ts
similarity index 100%
rename from src/remote_api/interface/SampleKindWS.ts
rename to zenoh-ts/src/remote_api/interface/SampleKindWS.ts
diff --git a/src/remote_api/interface/SampleWS.ts b/zenoh-ts/src/remote_api/interface/SampleWS.ts
similarity index 100%
rename from src/remote_api/interface/SampleWS.ts
rename to zenoh-ts/src/remote_api/interface/SampleWS.ts
diff --git a/src/remote_api/pubsub.ts b/zenoh-ts/src/remote_api/pubsub.ts
similarity index 100%
rename from src/remote_api/pubsub.ts
rename to zenoh-ts/src/remote_api/pubsub.ts
diff --git a/src/remote_api/query.ts b/zenoh-ts/src/remote_api/query.ts
similarity index 100%
rename from src/remote_api/query.ts
rename to zenoh-ts/src/remote_api/query.ts
diff --git a/src/remote_api/session.ts b/zenoh-ts/src/remote_api/session.ts
similarity index 100%
rename from src/remote_api/session.ts
rename to zenoh-ts/src/remote_api/session.ts
diff --git a/src/sample.ts b/zenoh-ts/src/sample.ts
similarity index 100%
rename from src/sample.ts
rename to zenoh-ts/src/sample.ts
diff --git a/src/session.ts b/zenoh-ts/src/session.ts
similarity index 99%
rename from src/session.ts
rename to zenoh-ts/src/session.ts
index 3405492..a55261f 100644
--- a/src/session.ts
+++ b/zenoh-ts/src/session.ts
@@ -37,6 +37,7 @@ import { QueryReplyWS } from "./remote_api/interface/QueryReplyWS";
 import { Error } from "./remote_api/session";
 
 export { Error };
+// TODO : Remove - Replace with Exception
 export type Option<T> = T | null;
 export type Result<T, E> = T | E;
 
diff --git a/src/z_bytes.ts b/zenoh-ts/src/z_bytes.ts
similarity index 93%
rename from src/z_bytes.ts
rename to zenoh-ts/src/z_bytes.ts
index b9beaf1..d71b156 100644
--- a/src/z_bytes.ts
+++ b/zenoh-ts/src/z_bytes.ts
@@ -9,6 +9,7 @@ export type IntoZBytes =
   | String
   | string;
 
+//TODO : Implement for primitave types
 /**
  * Class to represent an Array of Bytes received from Zenoh
  */
@@ -37,15 +38,6 @@ export class ZBytes {
     return new ZBytes(new Uint8Array());
   }
 
-  /**
-   * return the underlying Uint8Array buffer
-   * 
-   * @returns Uint8Array
-   */
-  payload(): Uint8Array {
-    return this.buffer;
-  }
-
   /**
    * return the underlying Uint8Array buffer
    * 
@@ -54,6 +46,7 @@ export class ZBytes {
   deserialize<T>(d: Deserialize<T>): T {
     return d.deserialize(this.buffer);
   }
+  // TODO: Implement seralize
 
   /**
    * new function to create a ZBytes 
diff --git a/tsconfig.json b/zenoh-ts/tsconfig.json
similarity index 100%
rename from tsconfig.json
rename to zenoh-ts/tsconfig.json
diff --git a/webpack.config.js b/zenoh-ts/webpack.config.js
similarity index 100%
rename from webpack.config.js
rename to zenoh-ts/webpack.config.js
diff --git a/yarn.lock b/zenoh-ts/yarn.lock
similarity index 100%
rename from yarn.lock
rename to zenoh-ts/yarn.lock