diff --git a/dimos/core/native_module.py b/dimos/core/native_module.py
index 6e34a2ffd5..abf43f70fc 100644
--- a/dimos/core/native_module.py
+++ b/dimos/core/native_module.py
@@ -124,8 +124,6 @@ class NativeModuleConfig(ModuleConfig):
     log_format: LogFormat = LogFormat.JSON
     auto_build: bool = False
 
-    # New version of Native Modules read json configs from stdin
-    # Enable this to read from stdin instead of cli args
     stdin_config: bool = False
 
     cli_exclude: frozenset[str] = frozenset()
@@ -228,6 +226,9 @@ def start(self) -> None:
 
         env = {**os.environ, **self.config.extra_env}
 
+        # set transport so native modules know which one to spawn
+        env["DIMOS_TRANSPORT"] = global_config.transport
+
         # set Rust logging to match Python level
         env["RUST_LOG"] = _PYTHON_TO_RUST_LEVELS.get(
             os.environ.get("DIMOS_LOG_LEVEL", "").upper(), "info"
@@ -254,9 +255,11 @@ def start(self) -> None:
         assert self._process.stdin is not None
         if self.config.stdin_config:
             config_dict = self.config.to_config_dict()
-            stdin_blob = (
-                json.dumps({"topics": topics, "config": config_dict or None}).encode() + b"\n"
-            )
+            blob: dict[str, Any] = {"topics": topics, "config": config_dict or None}
+            qos = self._collect_output_qos()
+            if qos:
+                blob["qos"] = qos
+            stdin_blob = json.dumps(blob).encode() + b"\n"
             self._process.stdin.write(stdin_blob)
         self._process.stdin.close()
         logger.info(
@@ -464,7 +467,23 @@ def _collect_topics(self) -> dict[str, str]:
             transport = getattr(stream, "_transport", None)
             if transport is None:
                 continue
-            topic = getattr(transport, "topic", None)
-            if topic is not None:
-                topics[name] = str(topic)
+            channel = getattr(transport, "channel", None)
+            if channel is not None:
+                topics[name] = channel
         return topics
+
+    def _collect_output_qos(self) -> dict[str, dict[str, str]]:
+        """Publisher QoS per output channel, keyed by channel."""
+        qos_map: dict[str, dict[str, str]] = {}
+        for name in self.outputs:
+            stream = getattr(self, name, None)
+            if stream is None:
+                continue
+            transport = getattr(stream, "_transport", None)
+            if transport is None:
+                continue
+            channel = getattr(transport, "channel", None)
+            qos = getattr(transport, "publish_qos", None)
+            if channel is not None and qos:
+                qos_map[channel] = qos
+        return qos_map
diff --git a/dimos/core/transport.py b/dimos/core/transport.py
index a0e6ed5292..a66d3c7d6a 100644
--- a/dimos/core/transport.py
+++ b/dimos/core/transport.py
@@ -83,13 +83,6 @@ class PubSubTransport(Transport[T]):
     def __init__(self, topic: Any) -> None:
         self.topic = topic
 
-    @classmethod
-    def spec(cls, *args: Any, **kwargs: Any) -> TransportSpec:
-        """Defer construction: capture ctor args for the coordinator to build later."""
-        from dimos.core.coordination.blueprints import TransportSpec
-
-        return TransportSpec(cls, args, kwargs)
-
     def __str__(self) -> str:
         return (
             colors.green(f"{self.__class__.__name__}(")
@@ -97,6 +90,18 @@ def __str__(self) -> str:
             + colors.green(")")
         )
 
+    @property
+    def channel(self) -> str:
+        """The channel string this transport publishes and subscribes on."""
+        return str(self.topic)
+
+    @classmethod
+    def spec(cls, *args: Any, **kwargs: Any) -> TransportSpec:
+        """Defer construction: capture ctor args for the coordinator to build later."""
+        from dimos.core.coordination.blueprints import TransportSpec
+
+        return TransportSpec(cls, args, kwargs)
+
 
 class pLCMTransport(PubSubTransport[T]):
     _started: bool = False
@@ -543,6 +548,15 @@ def __init__(self, topic: str | ZenohTopic, type: type | None = None, **kwargs:
         self.zenoh = Zenoh(**kwargs)
         self._start_lock = threading.RLock()
 
+    @property
+    def channel(self) -> str:
+        return cast("str", self.topic.key_expr)
+
+    @property
+    def publish_qos(self) -> dict[str, str] | None:
+        qos = self.topic.qos
+        return qos.to_wire() if qos is not None else None
+
     def __reduce__(self) -> tuple[Any, ...]:
         return (ZenohTransport, (self.topic,))
 
@@ -586,6 +600,15 @@ def __init__(self, topic: str | ZenohTopic, **kwargs: Any) -> None:
         self.zenoh = PickleZenoh(**kwargs)
         self._start_lock = threading.RLock()
 
+    @property
+    def channel(self) -> str:
+        return self._zenoh_topic.key_expr
+
+    @property
+    def publish_qos(self) -> dict[str, str] | None:
+        qos = self._zenoh_topic.qos
+        return qos.to_wire() if qos is not None else None
+
     def __reduce__(self) -> tuple[Any, ...]:
         return (pZenohTransport, (self._zenoh_topic,))
 
diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock
index 53993a985c..ef9b748c0b 100644
--- a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock
+++ b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock
@@ -3,105 +3,113 @@
 version = 4
 
 [[package]]
-name = "aho-corasick"
-version = "1.1.4"
+name = "adler2"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
+checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
+
+[[package]]
+name = "aes"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b169f7a6d4742236a0a00c541b845991d0ac43e546831af1249753ab4c3aa3a0"
 dependencies = [
- "memchr",
+ "cfg-if",
+ "cipher",
+ "cpufeatures 0.2.17",
 ]
 
 [[package]]
-name = "byteorder"
-version = "1.5.0"
+name = "ahash"
+version = "0.8.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+checksum = "5a15f179cd60c4584b8a8c596927aadc462e27f2ca70c04e0071964a73ba7a75"
+dependencies = [
+ "cfg-if",
+ "getrandom 0.3.4",
+ "once_cell",
+ "version_check",
+ "zerocopy",
+]
 
 [[package]]
-name = "bytes"
-version = "1.11.1"
+name = "aho-corasick"
+version = "1.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
+checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
+dependencies = [
+ "memchr",
+]
 
 [[package]]
-name = "cfg-if"
-version = "1.0.4"
+name = "allocator-api2"
+version = "0.2.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
+checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
 
 [[package]]
-name = "darling"
-version = "0.20.11"
+name = "android_system_properties"
+version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc7f46116c46ff9ab3eb1597a45688b6715c6e628b5c133e288e709a29bcb4ee"
+checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
 dependencies = [
- "darling_core",
- "darling_macro",
+ "libc",
 ]
 
 [[package]]
-name = "darling_core"
-version = "0.20.11"
+name = "anyhow"
+version = "1.0.103"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d00b9596d185e565c2207a0b01f8bd1a135483d02d9b7b0a54b11da8d53412e"
-dependencies = [
- "fnv",
- "ident_case",
- "proc-macro2",
- "quote",
- "strsim",
- "syn",
-]
+checksum = "2a4385e2e34eb35d6b3efe798b9eb88096925d87726c0798709bf56d9ed84af3"
 
 [[package]]
-name = "darling_macro"
-version = "0.20.11"
+name = "arc-swap"
+version = "1.9.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc34b93ccb385b40dc71c6fceac4b2ad23662c7eeb248cf10d529b7e055b6ead"
+checksum = "c049c0be4daef0b145cb3555416b3b8ef5b7888a38aea1a3a155801fe7b0810b"
 dependencies = [
- "darling_core",
- "quote",
- "syn",
+ "rustversion",
 ]
 
 [[package]]
-name = "dimos-lcm"
-version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#e7c9428b7201cdfeadecd181c77c9e2d60a14503"
-dependencies = [
- "byteorder",
- "socket2 0.5.10",
- "tokio",
-]
+name = "array-init"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d62b7694a562cdf5a74227903507c56ab2cc8bdd1f781ed5cb4cf9c9f810bfc"
 
 [[package]]
-name = "dimos-module"
-version = "0.1.0"
+name = "asn1-rs"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7f43a50ac4fdca5df8e885c21b835997f0a1cdee65494a6847694a98652d9d8"
 dependencies = [
- "dimos-lcm",
- "dimos-module-macros",
- "serde",
- "serde_json",
- "tokio",
- "tracing",
- "tracing-subscriber",
- "validator",
+ "asn1-rs-derive",
+ "asn1-rs-impl",
+ "displaydoc",
+ "nom",
+ "num-traits",
+ "rusticata-macros",
+ "thiserror 2.0.18",
+ "time",
 ]
 
 [[package]]
-name = "dimos-module-macros"
-version = "0.1.0"
+name = "asn1-rs-derive"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3109e49b1e4909e9db6515a30c633684d68cdeaa252f215214cb4fa1a5bfee2c"
 dependencies = [
  "proc-macro2",
  "quote",
  "syn",
+ "synstructure",
 ]
 
 [[package]]
-name = "displaydoc"
-version = "0.2.6"
+name = "asn1-rs-impl"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ac70aa55017e108007fbaf5aa0f54b021c98f92ff8af59d42eda9da96e3dd4f"
+checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -109,246 +117,1666 @@ dependencies = [
 ]
 
 [[package]]
-name = "errno"
-version = "0.3.14"
+name = "async-trait"
+version = "0.1.89"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
+checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb"
 dependencies = [
- "libc",
- "windows-sys 0.61.2",
+ "proc-macro2",
+ "quote",
+ "syn",
 ]
 
 [[package]]
-name = "fnv"
-version = "1.0.7"
+name = "autocfg"
+version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
+checksum = "f2032f911046de80f0a198e0901378627c33f59ea0ac00e363d481118bd70a53"
 
 [[package]]
-name = "form_urlencoded"
-version = "1.2.2"
+name = "base64"
+version = "0.22.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb4cb245038516f5f85277875cdaa4f7d2c9a0fa0468de06ed190163b1581fcf"
-dependencies = [
- "percent-encoding",
-]
+checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
 [[package]]
-name = "icu_collections"
-version = "2.2.0"
+name = "base64ct"
+version = "1.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2984d1cd16c883d7935b9e07e44071dca8d917fd52ecc02c04d5fa0b5a3f191c"
-dependencies = [
- "displaydoc",
- "potential_utf",
- "utf8_iter",
- "yoke",
- "zerofrom",
- "zerovec",
-]
+checksum = "2af50177e190e07a26ab74f8b1efbfe2ef87da2116221318cb1c2e82baf7de06"
 
 [[package]]
-name = "icu_locale_core"
-version = "2.2.0"
+name = "bit-vec"
+version = "0.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92219b62b3e2b4d88ac5119f8904c10f8f61bf7e95b640d25ba3075e6cac2c29"
+checksum = "b71798fca2c1fe1086445a7258a4bc81e6e49dcd24c8d0dd9a1e57395b603f51"
 dependencies = [
- "displaydoc",
- "litemap",
- "tinystr",
- "writeable",
- "zerovec",
+ "serde",
 ]
 
 [[package]]
-name = "icu_normalizer"
-version = "2.2.0"
+name = "bitflags"
+version = "2.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c56e5ee99d6e3d33bd91c5d85458b6005a22140021cc324cea84dd0e72cff3b4"
+checksum = "b4388bee8683e3d04af747c73422af53102d2bd24d9eadb6cbc100baef4b43f8"
 dependencies = [
- "icu_collections",
- "icu_normalizer_data",
- "icu_properties",
- "icu_provider",
- "smallvec",
- "zerovec",
+ "serde_core",
 ]
 
 [[package]]
-name = "icu_normalizer_data"
-version = "2.2.0"
+name = "block-buffer"
+version = "0.10.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da3be0ae77ea334f4da67c12f149704f19f81d1adf7c51cf482943e84a2bad38"
+checksum = "3078c7629b62d3f0439517fa394996acacc5cbc91c5a20d8c658e77abd503a71"
+dependencies = [
+ "generic-array",
+]
 
 [[package]]
-name = "icu_properties"
-version = "2.2.0"
+name = "bs58"
+version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bee3b67d0ea5c2cca5003417989af8996f8604e34fb9ddf96208a033901e70de"
+checksum = "bf88ba1141d185c399bee5288d850d63b8369520c1eafc32a0430b5b6c287bf4"
 dependencies = [
- "icu_collections",
- "icu_locale_core",
- "icu_properties_data",
- "icu_provider",
- "zerotrie",
- "zerovec",
+ "tinyvec",
 ]
 
 [[package]]
-name = "icu_properties_data"
-version = "2.2.0"
+name = "bumpalo"
+version = "3.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e2bbb201e0c04f7b4b3e14382af113e17ba4f63e2c9d2ee626b720cbce54a14"
+checksum = "72f5acc6cb2ba439de613abc23857ec3d78374d8ed5ac84e9d11336e87da8649"
 
 [[package]]
-name = "icu_provider"
-version = "2.2.0"
+name = "byteorder"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "139c4cf31c8b5f33d7e199446eff9c1e02decfc2f0eec2c8d71f65befa45b421"
-dependencies = [
- "displaydoc",
- "icu_locale_core",
- "writeable",
- "yoke",
- "zerofrom",
- "zerotrie",
- "zerovec",
-]
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
-name = "ident_case"
-version = "1.0.1"
+name = "bytes"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
+checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
 
 [[package]]
-name = "idna"
-version = "1.1.0"
+name = "cc"
+version = "1.2.66"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b0875f23caa03898994f6ddc501886a45c7d3d62d04d2d90788d47be1b1e4de"
+checksum = "f5d6cac793997bd970000024b2934968efe83b382de4fdcf4fcb46b6ee4ad996"
 dependencies = [
- "idna_adapter",
- "smallvec",
- "utf8_iter",
+ "find-msvc-tools",
+ "shlex",
 ]
 
 [[package]]
-name = "idna_adapter"
-version = "1.2.2"
+name = "cfg-if"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb68373c0d6620ef8105e855e7745e18b0d00d3bdb07fb532e434244cdb9a714"
-dependencies = [
- "icu_normalizer",
- "icu_properties",
-]
+checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
 
 [[package]]
-name = "itoa"
-version = "1.0.18"
+name = "cfg_aliases"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
+checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
 
 [[package]]
-name = "lazy_static"
-version = "1.5.0"
+name = "chacha20"
+version = "0.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
+checksum = "d524456ba66e72eb8b115ff89e01e497f8e6d11d78b70b1aa13c0fbd97540a81"
+dependencies = [
+ "cfg-if",
+ "cpufeatures 0.3.0",
+ "rand_core 0.10.1",
+]
 
 [[package]]
-name = "libc"
-version = "0.2.186"
+name = "chrono"
+version = "0.4.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68ab91017fe16c622486840e4c83c9a37afeff978bd239b5293d61ece587de66"
+checksum = "1aa79e62e7697b8e29b513a68abacf485adcd1fe8284a4316c5ae868e6633327"
+dependencies = [
+ "iana-time-zone",
+ "num-traits",
+ "serde",
+ "windows-link",
+]
 
 [[package]]
-name = "litemap"
-version = "0.8.2"
+name = "cipher"
+version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92daf443525c4cce67b150400bc2316076100ce0b3686209eb8cf3c31612e6f0"
+checksum = "773f3b9af64447d2ce9850330c473515014aa235e6a783b02db81ff39e4a3dad"
+dependencies = [
+ "crypto-common",
+ "inout",
+]
 
 [[package]]
-name = "log"
-version = "0.4.32"
+name = "combine"
+version = "4.6.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "953f07c43838f8e6f9758cab68bf5bed85465e7587ebe0b823f1bcd81978ad3a"
+checksum = "ba5a308b75df32fe02788e748662718f03fde005016435c444eea572398219fd"
+dependencies = [
+ "bytes",
+ "memchr",
+]
 
 [[package]]
-name = "matchers"
-version = "0.2.0"
+name = "concurrent-queue"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d1525a2a28c7f4fa0fc98bb91ae755d1e2d1505079e05539e35bc876b5d65ae9"
+checksum = "4ca0197aee26d1ae37445ee532fefce43251d24cc7c166799f4d46817f1d3973"
 dependencies = [
- "regex-automata",
+ "crossbeam-utils",
 ]
 
 [[package]]
-name = "memchr"
-version = "2.8.2"
+name = "const-oid"
+version = "0.9.6"
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+checksum = "17d065833147be895b7091cc3e505433c2c8b3172e36c9e06e84a5779a4aa655"
 dependencies = [
- "darling",
- "once_cell",
- "proc-macro-error2",
- "proc-macro2",
- "quote",
- "syn",
+ "async-trait",
+ "rustls-webpki",
+ "time",
+ "tracing",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-link-quic_datagram",
+ "zenoh-protocol",
+ "zenoh-result",
 ]
 
 [[package]]
-name = "valuable"
-version = "0.1.1"
+name = "zenoh-link-quic_datagram"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ba73ea9cf16a25df0c8caa16c51acb937d5712a8429db78a3ee29d5dcacd3a65"
+checksum = "e81b15df31a3d0ddde9a4fb3fbc928e9a2a6d6a4de38bcf55badd3a5208947a4"
+dependencies = [
+ "async-trait",
+ "rustls-webpki",
+ "time",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+]
 
 [[package]]
-name = "virtual-mid360"
-version = "0.1.0"
+name = "zenoh-link-tcp"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4e912ac36902173dfc295317e001dc630e5ac9a70c2780f2d2eac500b205a700"
 dependencies = [
- "dimos-module",
- "serde",
+ "async-trait",
  "socket2 0.5.10",
  "tokio",
+ "tokio-util",
  "tracing",
- "validator",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
 ]
 
 [[package]]
-name = "wasi"
-version = "0.11.1+wasi-snapshot-preview1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ccf3ec651a847eb01de73ccad15eb7d99f80485de043efb2f370cd654f4ea44b"
-
-[[package]]
-name = "windows-link"
-version = "0.2.1"
+name = "zenoh-link-tls"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
+checksum = "e6f6b308ae2599f9c1344fbcd3418b2c3a3a9fe287ec39501ba834168493ba37"
+dependencies = [
+ "async-trait",
+ "base64",
+ "rustls",
+ "rustls-pemfile",
+ "rustls-pki-types",
+ "rustls-webpki",
+ "secrecy",
+ "socket2 0.5.10",
+ "time",
+ "tls-listener",
+ "tokio",
+ "tokio-rustls",
+ "tokio-util",
+ "tracing",
+ "webpki-roots",
+ "x509-parser",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+]
 
 [[package]]
-name = "windows-sys"
-version = "0.52.0"
+name = "zenoh-link-udp"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+checksum = "ca106ca8c3b7625e7071b9d7408955726e994c8f35fd68e00de8ac58b185d52d"
 dependencies = [
- "windows-targets",
+ "async-trait",
+ "libc",
+ "socket2 0.5.10",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "windows-sys 0.61.2",
+ "zenoh-buffers",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-link-quic_datagram",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
 ]
 
 [[package]]
-name = "windows-sys"
-version = "0.61.2"
+name = "zenoh-link-unixsock_stream"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
+checksum = "09f2b7f60cdb5ad771d1a4f8e2eda15529e96dbe81c0ad2c1015b4c194347676"
 dependencies = [
- "windows-link",
+ "async-trait",
+ "nix",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "uuid",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
 ]
 
 [[package]]
-name = "windows-targets"
-version = "0.52.6"
+name = "zenoh-link-ws"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
+checksum = "9a7fb54899f7fbdfc4fd02e647f9bba0d6e089cca4355acafb9499c510ebea79"
 dependencies = [
- "windows_aarch64_gnullvm",
- "windows_aarch64_msvc",
- "windows_i686_gnu",
- "windows_i686_gnullvm",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_gnullvm",
- "windows_x86_64_msvc",
+ "async-trait",
+ "futures-util",
+ "tokio",
+ "tokio-tungstenite",
+ "tokio-util",
+ "tracing",
+ "url",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-util",
 ]
 
 [[package]]
-name = "windows_aarch64_gnullvm"
-version = "0.52.6"
+name = "zenoh-macros"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
+checksum = "9310b02a8f6dc4bd04d9ce6b318b9d00182aeeeeca60410003307d63a2569a3f"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+ "zenoh-keyexpr",
+]
 
 [[package]]
-name = "windows_aarch64_msvc"
-version = "0.52.6"
+name = "zenoh-plugin-trait"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
+checksum = "e235815d14b22448aa1db948560328761530932fa7a2f9a3c14853b3f0267941"
+dependencies = [
+ "git-version",
+ "libloading",
+ "serde",
+ "stabby",
+ "tracing",
+ "zenoh-config",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+ "zenoh-util",
+]
 
 [[package]]
-name = "windows_i686_gnu"
-version = "0.52.6"
+name = "zenoh-protocol"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
+checksum = "eeab45020bbecc077f14f06ee8f5aee65ce760af72481e663cac58b5dbfa66dd"
+dependencies = [
+ "const_format",
+ "rand 0.8.6",
+ "serde",
+ "uhlc",
+ "zenoh-buffers",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+]
 
 [[package]]
-name = "windows_i686_gnullvm"
-version = "0.52.6"
+name = "zenoh-result"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
+checksum = "cca8e65b08f211833fe31cf38d73a48c6e1d6d900914e1ddd8cb176b3355b75b"
+dependencies = [
+ "anyhow",
+]
 
 [[package]]
-name = "windows_i686_msvc"
-version = "0.52.6"
+name = "zenoh-runtime"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
+checksum = "dd3d0c1558f909c9a74bde5e398c5733f81eb954818451baac2a6c09f48d6a5e"
+dependencies = [
+ "lazy_static",
+ "ron",
+ "serde",
+ "tokio",
+ "tracing",
+ "zenoh-macros",
+ "zenoh-result",
+]
 
 [[package]]
-name = "windows_x86_64_gnu"
-version = "0.52.6"
+name = "zenoh-sync"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
+checksum = "9588f87db82b414a3e73d13312026be826332f53d270966e3e19f77f7fa1f06d"
+dependencies = [
+ "arc-swap",
+ "event-listener",
+ "futures",
+ "tokio",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+]
 
 [[package]]
-name = "windows_x86_64_gnullvm"
-version = "0.52.6"
+name = "zenoh-task"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
+checksum = "1e2ac601598a27152b366ba1c6825216f01f77bb898f719b7752099a3594ce72"
+dependencies = [
+ "futures",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-runtime",
+]
 
 [[package]]
-name = "windows_x86_64_msvc"
-version = "0.52.6"
+name = "zenoh-transport"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
+checksum = "80800c4adc26dbe81418735068541cf39820a95ec988114f04dd014775ba7c97"
+dependencies = [
+ "async-trait",
+ "crossbeam-utils",
+ "flume",
+ "futures",
+ "lazy_static",
+ "lz4_flex",
+ "rand 0.8.6",
+ "ringbuffer-spsc",
+ "rsa",
+ "serde",
+ "sha3",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-crypto",
+ "zenoh-link",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-task",
+ "zenoh-util",
+]
 
 [[package]]
-name = "writeable"
-version = "0.6.3"
+name = "zenoh-util"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ffae5123b2d3fc086436f8834ae3ab053a283cfac8fe0a0b8eaae044768a4c4"
+checksum = "1b10369df18a781a3e675c9a2cbf54adb44c9dc2a376c1014c5e488410df2179"
+dependencies = [
+ "async-trait",
+ "const_format",
+ "flume",
+ "home",
+ "humantime",
+ "lazy_static",
+ "libc",
+ "libloading",
+ "pnet_datalink",
+ "schemars 1.2.1",
+ "serde",
+ "serde_json",
+ "shellexpand",
+ "tokio",
+ "tracing",
+ "tracing-subscriber",
+ "winapi",
+ "zenoh-core",
+ "zenoh-result",
+]
 
 [[package]]
-name = "yoke"
-version = "0.8.3"
+name = "zerocopy"
+version = "0.8.53"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "709fe23a0424b6a435d82152b1bd3fdfb0833487d5fa90d05d42762a9891fef5"
+checksum = "75726053136156d419e285b9b7eddaaea9e3fea6ce32eed44a89901f0bd98de1"
 dependencies = [
- "stable_deref_trait",
- "yoke-derive",
- "zerofrom",
+ "zerocopy-derive",
 ]
 
 [[package]]
-name = "yoke-derive"
-version = "0.8.2"
+name = "zerocopy-derive"
+version = "0.8.53"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de844c262c8848816172cef550288e7dc6c7b7814b4ee56b3e1553f275f1858e"
+checksum = "4714fd92cf900833d49538023a9b3915155210801d1c1169eba513b2addefd71"
 dependencies = [
  "proc-macro2",
  "quote",
  "syn",
- "synstructure",
 ]
 
 [[package]]
@@ -861,6 +4065,12 @@ dependencies = [
  "synstructure",
 ]
 
+[[package]]
+name = "zeroize"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e13c156562582aa81c60cb29407084cdb54c4164760106ab78e6c5b0858cf64e"
+
 [[package]]
 name = "zerotrie"
 version = "0.2.4"
diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs b/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs
index e818619072..de28c2d3bf 100644
--- a/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs
+++ b/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs
@@ -18,7 +18,7 @@
 // binds lidar_ip and sends UDP, so it works wherever the host_ip/lidar_ip are
 // reachable — IPs aliased on an interface (host ns, incl. macOS lo0) or a netns.
 
-use dimos_module::{native_config, run, LcmTransport, Module};
+use dimos_module::{native_config, run_with_transport, Module};
 use socket2::{Domain, Protocol, Socket, Type};
 use std::net::{Ipv4Addr, SocketAddrV4, UdpSocket};
 use std::sync::atomic::{AtomicBool, Ordering};
@@ -549,8 +549,5 @@ fn rewrite_ts(payload: &mut [u8], shift: u64) {
 
 #[tokio::main]
 async fn main() {
-    let transport = LcmTransport::new()
-        .await
-        .expect("Failed to create transport");
-    run::<VirtualMid360, _>(transport).await;
+    run_with_transport::<VirtualMid360>().await;
 }
diff --git a/dimos/mapping/ray_tracing/rust/Cargo.lock b/dimos/mapping/ray_tracing/rust/Cargo.lock
index 122775cdb5..f68f1b28b9 100644
--- a/dimos/mapping/ray_tracing/rust/Cargo.lock
+++ b/dimos/mapping/ray_tracing/rust/Cargo.lock
@@ -2,6 +2,23 @@
 # It is not intended for manual editing.
 version = 4
 
+[[package]]
+name = "adler2"
+version = "2.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
+
+[[package]]
+name = "aes"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b169f7a6d4742236a0a00c541b845991d0ac43e546831af1249753ab4c3aa3a0"
+dependencies = [
+ "cfg-if",
+ "cipher",
+ "cpufeatures 0.2.17",
+]
+
 [[package]]
 name = "ahash"
 version = "0.8.12"
@@ -9,7 +26,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5a15f179cd60c4584b8a8c596927aadc462e27f2ca70c04e0071964a73ba7a75"
 dependencies = [
  "cfg-if",
- "getrandom",
+ "getrandom 0.3.4",
  "once_cell",
  "version_check",
  "zerocopy",
@@ -24,6 +41,27 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "allocator-api2"
+version = "0.2.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
+
+[[package]]
+name = "android_system_properties"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "anyhow"
+version = "1.0.103"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2a4385e2e34eb35d6b3efe798b9eb88096925d87726c0798709bf56d9ed84af3"
+
 [[package]]
 name = "approx"
 version = "0.5.1"
@@ -33,18 +71,137 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "arc-swap"
+version = "1.9.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c049c0be4daef0b145cb3555416b3b8ef5b7888a38aea1a3a155801fe7b0810b"
+dependencies = [
+ "rustversion",
+]
+
+[[package]]
+name = "array-init"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d62b7694a562cdf5a74227903507c56ab2cc8bdd1f781ed5cb4cf9c9f810bfc"
+
 [[package]]
 name = "arrayvec"
 version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
 
+[[package]]
+name = "asn1-rs"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7f43a50ac4fdca5df8e885c21b835997f0a1cdee65494a6847694a98652d9d8"
+dependencies = [
+ "asn1-rs-derive",
+ "asn1-rs-impl",
+ "displaydoc",
+ "nom",
+ "num-traits",
+ "rusticata-macros",
+ "thiserror 2.0.18",
+ "time",
+]
+
+[[package]]
+name = "asn1-rs-derive"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3109e49b1e4909e9db6515a30c633684d68cdeaa252f215214cb4fa1a5bfee2c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+ "synstructure",
+]
+
+[[package]]
+name = "asn1-rs-impl"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "async-trait"
+version = "0.1.89"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "autocfg"
 version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f2032f911046de80f0a198e0901378627c33f59ea0ac00e363d481118bd70a53"
 
+[[package]]
+name = "base64"
+version = "0.22.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
+
+[[package]]
+name = "base64ct"
+version = "1.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2af50177e190e07a26ab74f8b1efbfe2ef87da2116221318cb1c2e82baf7de06"
+
+[[package]]
+name = "bit-vec"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b71798fca2c1fe1086445a7258a4bc81e6e49dcd24c8d0dd9a1e57395b603f51"
+dependencies = [
+ "serde",
+]
+
+[[package]]
+name = "bitflags"
+version = "2.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4388bee8683e3d04af747c73422af53102d2bd24d9eadb6cbc100baef4b43f8"
+dependencies = [
+ "serde_core",
+]
+
+[[package]]
+name = "block-buffer"
+version = "0.10.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3078c7629b62d3f0439517fa394996acacc5cbc91c5a20d8c658e77abd503a71"
+dependencies = [
+ "generic-array",
+]
+
+[[package]]
+name = "bs58"
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- "rustversion",
+ "konst_macro_rules",
 ]
 
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+name = "konst_macro_rules"
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+ "windows-link",
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+dependencies = [
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+
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@@ -454,6 +1454,22 @@ dependencies = [
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+dependencies = [
+ "adler2",
+ "simd-adler32",
+]
+
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+dependencies = [
+ "getrandom 0.2.17",
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+
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+dependencies = [
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+ "cfg-if",
+ "cfg_aliases",
+ "libc",
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+dependencies = [
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+ "minimal-lexical",
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+
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+dependencies = [
+ "serde",
+]
+
 [[package]]
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@@ -530,6 +1592,22 @@ dependencies = [
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 ]
 
+[[package]]
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+ "lazy_static",
+ "libm",
+ "num-integer",
+ "num-iter",
+ "num-traits",
+ "rand 0.8.6",
+ "smallvec",
+ "zeroize",
+]
+
 [[package]]
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@@ -539,6 +1617,12 @@ dependencies = [
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+checksum = "521739c6d2bac4aa25192232afe6841231376b2b26d4d9fae5ecf8ca5772e441"
+
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@@ -548,6 +1632,17 @@ dependencies = [
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+dependencies = [
+ "autocfg",
+ "num-integer",
+ "num-traits",
+]
+
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 checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
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+ "libm",
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+dependencies = [
+ "hermit-abi",
+ "libc",
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 [[package]]
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+dependencies = [
+ "asn1-rs",
+]
+
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@@ -626,6 +1934,30 @@ dependencies = [
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+ "toml_edit",
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+
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@@ -719,6 +2051,64 @@ dependencies = [
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+ "rustc-hash",
+ "rustls",
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+ "rustls-platform-verifier",
+ "slab",
+ "thiserror 2.0.18",
+ "tinyvec",
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+ "web-time",
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+
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+ "zenoh-core",
+]
+
+[[package]]
+name = "zenoh-task"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e2ac601598a27152b366ba1c6825216f01f77bb898f719b7752099a3594ce72"
+dependencies = [
+ "futures",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-runtime",
+]
+
+[[package]]
+name = "zenoh-transport"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "80800c4adc26dbe81418735068541cf39820a95ec988114f04dd014775ba7c97"
+dependencies = [
+ "async-trait",
+ "crossbeam-utils",
+ "flume",
+ "futures",
+ "lazy_static",
+ "lz4_flex",
+ "rand 0.8.6",
+ "ringbuffer-spsc",
+ "rsa",
+ "serde",
+ "sha3",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-crypto",
+ "zenoh-link",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-task",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-util"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b10369df18a781a3e675c9a2cbf54adb44c9dc2a376c1014c5e488410df2179"
+dependencies = [
+ "async-trait",
+ "const_format",
+ "flume",
+ "home",
+ "humantime",
+ "lazy_static",
+ "libc",
+ "libloading",
+ "pnet_datalink",
+ "schemars 1.2.1",
+ "serde",
+ "serde_json",
+ "shellexpand",
+ "tokio",
+ "tracing",
+ "tracing-subscriber",
+ "winapi",
+ "zenoh-core",
+ "zenoh-result",
+]
+
 [[package]]
 name = "zerocopy"
 version = "0.8.50"
@@ -1337,6 +4380,12 @@ dependencies = [
  "synstructure",
 ]
 
+[[package]]
+name = "zeroize"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e13c156562582aa81c60cb29407084cdb54c4164760106ab78e6c5b0858cf64e"
+
 [[package]]
 name = "zerotrie"
 version = "0.2.4"
diff --git a/dimos/mapping/ray_tracing/rust/src/main.rs b/dimos/mapping/ray_tracing/rust/src/main.rs
index 78b3cdb5b4..5b0b561d8a 100644
--- a/dimos/mapping/ray_tracing/rust/src/main.rs
+++ b/dimos/mapping/ray_tracing/rust/src/main.rs
@@ -15,7 +15,7 @@
 use std::collections::VecDeque;
 use std::time::Duration;
 
-use dimos_module::{error_throttled, run, warn_throttled, Input, LcmTransport, Module, Output};
+use dimos_module::{error_throttled, run_with_transport, warn_throttled, Input, Module, Output};
 use dimos_voxel_ray_tracing::voxel_ray_tracer::{
     batch_local_bounds, emit_points, update_map, Config, LocalBounds, VoxelMap,
 };
@@ -362,10 +362,7 @@ async fn publish_cloud(out: &Output<PointCloud2>, cloud: &PointCloud2) {
 
 #[tokio::main]
 async fn main() {
-    let transport = LcmTransport::new()
-        .await
-        .expect("failed to create LCM transport");
-    run::<RayTracingVoxelMap, _>(transport).await;
+    run_with_transport::<RayTracingVoxelMap>().await;
 }
 
 #[cfg(test)]
diff --git a/dimos/navigation/nav_3d/mls_planner/rust/Cargo.lock b/dimos/navigation/nav_3d/mls_planner/rust/Cargo.lock
index 2c0fcaac7d..b82cabedd8 100644
--- a/dimos/navigation/nav_3d/mls_planner/rust/Cargo.lock
+++ b/dimos/navigation/nav_3d/mls_planner/rust/Cargo.lock
@@ -18,6 +18,23 @@ version = "0.1.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "366ffbaa4442f4684d91e2cd7c5ea7c4ed8add41959a31447066e279e432b618"
 
+[[package]]
+name = "adler2"
+version = "2.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
+
+[[package]]
+name = "aes"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b169f7a6d4742236a0a00c541b845991d0ac43e546831af1249753ab4c3aa3a0"
+dependencies = [
+ "cfg-if",
+ "cipher",
+ "cpufeatures 0.2.17",
+]
+
 [[package]]
 name = "ahash"
 version = "0.8.12"
@@ -40,6 +57,27 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "allocator-api2"
+version = "0.2.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
+
+[[package]]
+name = "android_system_properties"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "anyhow"
+version = "1.0.103"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2a4385e2e34eb35d6b3efe798b9eb88096925d87726c0798709bf56d9ed84af3"
+
 [[package]]
 name = "approx"
 version = "0.5.1"
@@ -49,12 +87,125 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "arc-swap"
+version = "1.9.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c049c0be4daef0b145cb3555416b3b8ef5b7888a38aea1a3a155801fe7b0810b"
+dependencies = [
+ "rustversion",
+]
+
+[[package]]
+name = "array-init"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d62b7694a562cdf5a74227903507c56ab2cc8bdd1f781ed5cb4cf9c9f810bfc"
+
+[[package]]
+name = "asn1-rs"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7f43a50ac4fdca5df8e885c21b835997f0a1cdee65494a6847694a98652d9d8"
+dependencies = [
+ "asn1-rs-derive",
+ "asn1-rs-impl",
+ "displaydoc",
+ "nom",
+ "num-traits",
+ "rusticata-macros",
+ "thiserror 2.0.18",
+ "time",
+]
+
+[[package]]
+name = "asn1-rs-derive"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3109e49b1e4909e9db6515a30c633684d68cdeaa252f215214cb4fa1a5bfee2c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+ "synstructure",
+]
+
+[[package]]
+name = "asn1-rs-impl"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "async-trait"
+version = "0.1.89"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "autocfg"
 version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f2032f911046de80f0a198e0901378627c33f59ea0ac00e363d481118bd70a53"
 
+[[package]]
+name = "base64"
+version = "0.22.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
+
+[[package]]
+name = "base64ct"
+version = "1.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2af50177e190e07a26ab74f8b1efbfe2ef87da2116221318cb1c2e82baf7de06"
+
+[[package]]
+name = "bit-vec"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b71798fca2c1fe1086445a7258a4bc81e6e49dcd24c8d0dd9a1e57395b603f51"
+dependencies = [
+ "serde",
+]
+
+[[package]]
+name = "bitflags"
+version = "2.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4388bee8683e3d04af747c73422af53102d2bd24d9eadb6cbc100baef4b43f8"
+dependencies = [
+ "serde_core",
+]
+
+[[package]]
+name = "block-buffer"
+version = "0.10.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3078c7629b62d3f0439517fa394996acacc5cbc91c5a20d8c658e77abd503a71"
+dependencies = [
+ "generic-array",
+]
+
+[[package]]
+name = "bs58"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bf88ba1141d185c399bee5288d850d63b8369520c1eafc32a0430b5b6c287bf4"
+dependencies = [
+ "tinyvec",
+]
+
 [[package]]
 name = "bumpalo"
 version = "3.20.3"
@@ -85,12 +236,172 @@ version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
 
+[[package]]
+name = "cc"
+version = "1.2.66"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f5d6cac793997bd970000024b2934968efe83b382de4fdcf4fcb46b6ee4ad996"
+dependencies = [
+ "find-msvc-tools",
+ "shlex",
+]
+
 [[package]]
 name = "cfg-if"
 version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
 
+[[package]]
+name = "cfg_aliases"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
+
+[[package]]
+name = "chacha20"
+version = "0.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d524456ba66e72eb8b115ff89e01e497f8e6d11d78b70b1aa13c0fbd97540a81"
+dependencies = [
+ "cfg-if",
+ "cpufeatures 0.3.0",
+ "rand_core 0.10.1",
+]
+
+[[package]]
+name = "chrono"
+version = "0.4.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1aa79e62e7697b8e29b513a68abacf485adcd1fe8284a4316c5ae868e6633327"
+dependencies = [
+ "iana-time-zone",
+ "num-traits",
+ "serde",
+ "windows-link",
+]
+
+[[package]]
+name = "cipher"
+version = "0.4.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "773f3b9af64447d2ce9850330c473515014aa235e6a783b02db81ff39e4a3dad"
+dependencies = [
+ "crypto-common",
+ "inout",
+]
+
+[[package]]
+name = "combine"
+version = "4.6.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba5a308b75df32fe02788e748662718f03fde005016435c444eea572398219fd"
+dependencies = [
+ "bytes",
+ "memchr",
+]
+
+[[package]]
+name = "concurrent-queue"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ca0197aee26d1ae37445ee532fefce43251d24cc7c166799f4d46817f1d3973"
+dependencies = [
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "const-oid"
+version = "0.9.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2459377285ad874054d797f3ccebf984978aa39129f6eafde5cdc8315b612f8"
+
+[[package]]
+name = "const_format"
+version = "0.2.36"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4481a617ad9a412be3b97c5d403fef8ed023103368908b9c50af598ff467cc1e"
+dependencies = [
+ "const_format_proc_macros",
+ "konst",
+]
+
+[[package]]
+name = "const_format_proc_macros"
+version = "0.2.34"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d57c2eccfb16dbac1f4e61e206105db5820c9d26c3c472bc17c774259ef7744"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-xid",
+]
+
+[[package]]
+name = "core-foundation"
+version = "0.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b2a6cd9ae233e7f62ba4e9353e81a88df7fc8a5987b8d445b4d90c879bd156f6"
+dependencies = [
+ "core-foundation-sys",
+ "libc",
+]
+
+[[package]]
+name = "core-foundation-sys"
+version = "0.8.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
+
+[[package]]
+name = "cpufeatures"
+version = "0.2.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "59ed5838eebb26a2bb2e58f6d5b5316989ae9d08bab10e0e6d103e656d1b0280"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "cpufeatures"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b2a41393f66f16b0823bb79094d54ac5fbd34ab292ddafb9a0456ac9f87d201"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "crc32fast"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9481c1c90cbf2ac953f07c8d4a58aa3945c425b7185c9154d67a65e4230da511"
+dependencies = [
+ "cfg-if",
+]
+
+[[package]]
+name = "crossbeam"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1137cd7e7fc0fb5d3c5a8678be38ec56e819125d8d7907411fe24ccb943faca8"
+dependencies = [
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-channel"
+version = "0.5.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d85363c37faeca707aef026efa9f3b34d077bce547e48f770770625c6013679e"
+dependencies = [
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-deque"
 version = "0.8.6"
@@ -110,20 +421,49 @@ dependencies = [
  "crossbeam-utils",
 ]
 
+[[package]]
+name = "crossbeam-queue"
+version = "0.3.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "803d13fb3b09d88be9f4dbc29062c66b19bf7170867ceb746d2a8689bf6c7a26"
+dependencies = [
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-utils"
 version = "0.8.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d0a5c400df2834b80a4c3327b3aad3a4c4cd4de0629063962b03235697506a28"
 
+[[package]]
+name = "crypto-common"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78c8292055d1c1df0cce5d180393dc8cce0abec0a7102adb6c7b1eef6016d60a"
+dependencies = [
+ "generic-array",
+ "typenum",
+]
+
 [[package]]
 name = "darling"
 version = "0.20.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fc7f46116c46ff9ab3eb1597a45688b6715c6e628b5c133e288e709a29bcb4ee"
 dependencies = [
- "darling_core",
- "darling_macro",
+ "darling_core 0.20.11",
+ "darling_macro 0.20.11",
+]
+
+[[package]]
+name = "darling"
+version = "0.23.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "25ae13da2f202d56bd7f91c25fba009e7717a1e4a1cc98a76d844b65ae912e9d"
+dependencies = [
+ "darling_core 0.23.0",
+ "darling_macro 0.23.0",
 ]
 
 [[package]]
@@ -140,17 +480,93 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "darling_core"
+version = "0.23.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9865a50f7c335f53564bb694ef660825eb8610e0a53d3e11bf1b0d3df31e03b0"
+dependencies = [
+ "ident_case",
+ "proc-macro2",
+ "quote",
+ "strsim",
+ "syn",
+]
+
 [[package]]
 name = "darling_macro"
 version = "0.20.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fc34b93ccb385b40dc71c6fceac4b2ad23662c7eeb248cf10d529b7e055b6ead"
 dependencies = [
- "darling_core",
+ "darling_core 0.20.11",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "darling_macro"
+version = "0.23.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ac3984ec7bd6cfa798e62b4a642426a5be0e68f9401cfc2a01e3fa9ea2fcdb8d"
+dependencies = [
+ "darling_core 0.23.0",
  "quote",
  "syn",
 ]
 
+[[package]]
+name = "data-encoding"
+version = "2.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a4ae5f15dda3c708c0ade84bfee31ccab44a3da4f88015ed22f63732abe300c8"
+
+[[package]]
+name = "der"
+version = "0.7.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e7c1832837b905bbfb5101e07cc24c8deddf52f93225eee6ead5f4d63d53ddcb"
+dependencies = [
+ "const-oid",
+ "pem-rfc7468",
+ "zeroize",
+]
+
+[[package]]
+name = "der-parser"
+version = "10.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "07da5016415d5a3c4dd39b11ed26f915f52fc4e0dc197d87908bc916e51bc1a6"
+dependencies = [
+ "asn1-rs",
+ "displaydoc",
+ "nom",
+ "num-bigint",
+ "num-traits",
+ "rusticata-macros",
+]
+
+[[package]]
+name = "deranged"
+version = "0.5.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7cd812cc2bc1d69d4764bd80df88b4317eaef9e773c75226407d9bc0876b211c"
+dependencies = [
+ "serde_core",
+]
+
+[[package]]
+name = "digest"
+version = "0.10.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ed9a281f7bc9b7576e61468ba615a66a5c8cfdff42420a70aa82701a3b1e292"
+dependencies = [
+ "block-buffer",
+ "const-oid",
+ "crypto-common",
+ "subtle",
+]
+
 [[package]]
 name = "dimos-lcm"
 version = "0.1.0"
@@ -192,64 +608,232 @@ dependencies = [
  "tracing",
  "tracing-subscriber",
  "validator",
+ "zenoh",
+]
+
+[[package]]
+name = "dimos-module-macros"
+version = "0.1.0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
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+ "futures-util",
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 [[package]]
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+checksum = "128133ed7824fcd73d6e7b17957c5eb7bacb885649bd8c69708b2331a10bcefb"
 dependencies = [
- "cfg-if",
- "futures-util",
- "wasm-bindgen",
+ "konst_macro_rules",
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+[[package]]
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+dependencies = [
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+dependencies = [
+ "cfg-if",
+ "windows-link",
+]
+
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+dependencies = [
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+
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+checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
+dependencies = [
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+]
+
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+
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+dependencies = [
+ "twox-hash",
+]
+
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@@ -545,6 +1485,22 @@ dependencies = [
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+dependencies = [
+ "adler2",
+ "simd-adler32",
+]
+
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@@ -581,6 +1537,15 @@ dependencies = [
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+dependencies = [
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+
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@@ -596,6 +1561,43 @@ dependencies = [
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+dependencies = [
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+ "cfg-if",
+ "cfg_aliases",
+ "libc",
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+dependencies = [
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+ "minimal-lexical",
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+
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+dependencies = [
+ "serde",
+]
+
 [[package]]
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@@ -629,6 +1631,22 @@ dependencies = [
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+[[package]]
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+dependencies = [
+ "lazy_static",
+ "libm",
+ "num-integer",
+ "num-iter",
+ "num-traits",
+ "rand 0.8.6",
+ "smallvec",
+ "zeroize",
+]
+
 [[package]]
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@@ -638,6 +1656,12 @@ dependencies = [
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+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "521739c6d2bac4aa25192232afe6841231376b2b26d4d9fae5ecf8ca5772e441"
+
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@@ -679,6 +1703,16 @@ dependencies = [
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+[[package]]
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+dependencies = [
+ "hermit-abi",
+ "libc",
+]
+
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@@ -695,12 +1729,33 @@ dependencies = [
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+[[package]]
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+dependencies = [
+ "asn1-rs",
+]
+
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+
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@@ -711,22 +1766,197 @@ dependencies = [
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+checksum = "e79e70ec0be163102a332e1d2d5586d362ad76b01cec86f830241f2b6452a7b7"
+dependencies = [
+ "ipnetwork",
+ "libc",
+ "pnet_base",
+ "pnet_sys",
+ "winapi",
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+checksum = "7d4643d3d4db6b08741050c2f3afa9a892c4244c085a72fcda93c9c2c9a00f4b"
+dependencies = [
+ "libc",
+ "winapi",
+]
 
 [[package]]
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@@ -752,6 +1982,12 @@ dependencies = [
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 ]
 
+[[package]]
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+
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@@ -761,6 +1997,15 @@ dependencies = [
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+dependencies = [
+ "toml_edit",
+]
+
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@@ -860,6 +2105,64 @@ dependencies = [
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+[[package]]
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+ "cfg_aliases",
+ "pin-project-lite",
+ "quinn-proto",
+ "quinn-udp",
+ "rustc-hash",
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+ "socket2 0.6.4",
+ "thiserror 2.0.18",
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+ "web-time",
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+ "rand 0.10.2",
+ "rand_pcg",
+ "ring",
+ "rustc-hash",
+ "rustls",
+ "rustls-pki-types",
+ "rustls-platform-verifier",
+ "slab",
+ "thiserror 2.0.18",
+ "tinyvec",
+ "tracing",
+ "web-time",
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+
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+ "tokio-rustls",
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 dependencies = [
- "displaydoc",
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+ "paste",
+ "portable-atomic",
+ "rustversion",
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+ "bytes",
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+ "http",
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+dependencies = [
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@@ -1294,12 +3446,53 @@ dependencies = [
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+ "proc-macro2",
+ "quote",
+ "syn",
+ "zenoh-keyexpr",
+]
+
+[[package]]
+name = "zenoh-plugin-trait"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e235815d14b22448aa1db948560328761530932fa7a2f9a3c14853b3f0267941"
+dependencies = [
+ "git-version",
+ "libloading",
+ "serde",
+ "stabby",
+ "tracing",
+ "zenoh-config",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-protocol"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eeab45020bbecc077f14f06ee8f5aee65ce760af72481e663cac58b5dbfa66dd"
+dependencies = [
+ "const_format",
+ "rand 0.8.6",
+ "serde",
+ "uhlc",
+ "zenoh-buffers",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-result"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cca8e65b08f211833fe31cf38d73a48c6e1d6d900914e1ddd8cb176b3355b75b"
+dependencies = [
+ "anyhow",
+]
+
+[[package]]
+name = "zenoh-runtime"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dd3d0c1558f909c9a74bde5e398c5733f81eb954818451baac2a6c09f48d6a5e"
+dependencies = [
+ "lazy_static",
+ "ron",
+ "serde",
+ "tokio",
+ "tracing",
+ "zenoh-macros",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-sync"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9588f87db82b414a3e73d13312026be826332f53d270966e3e19f77f7fa1f06d"
+dependencies = [
+ "arc-swap",
+ "event-listener",
+ "futures",
+ "tokio",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+]
+
+[[package]]
+name = "zenoh-task"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e2ac601598a27152b366ba1c6825216f01f77bb898f719b7752099a3594ce72"
+dependencies = [
+ "futures",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-runtime",
+]
+
+[[package]]
+name = "zenoh-transport"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "80800c4adc26dbe81418735068541cf39820a95ec988114f04dd014775ba7c97"
+dependencies = [
+ "async-trait",
+ "crossbeam-utils",
+ "flume",
+ "futures",
+ "lazy_static",
+ "lz4_flex",
+ "rand 0.8.6",
+ "ringbuffer-spsc",
+ "rsa",
+ "serde",
+ "sha3",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-crypto",
+ "zenoh-link",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-task",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-util"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b10369df18a781a3e675c9a2cbf54adb44c9dc2a376c1014c5e488410df2179"
+dependencies = [
+ "async-trait",
+ "const_format",
+ "flume",
+ "home",
+ "humantime",
+ "lazy_static",
+ "libc",
+ "libloading",
+ "pnet_datalink",
+ "schemars 1.2.1",
+ "serde",
+ "serde_json",
+ "shellexpand",
+ "tokio",
+ "tracing",
+ "tracing-subscriber",
+ "winapi",
+ "zenoh-core",
+ "zenoh-result",
+]
+
 [[package]]
 name = "zerocopy"
 version = "0.8.49"
@@ -1576,6 +4451,12 @@ dependencies = [
  "synstructure",
 ]
 
+[[package]]
+name = "zeroize"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e13c156562582aa81c60cb29407084cdb54c4164760106ab78e6c5b0858cf64e"
+
 [[package]]
 name = "zerotrie"
 version = "0.2.4"
diff --git a/dimos/navigation/nav_3d/mls_planner/rust/src/main.rs b/dimos/navigation/nav_3d/mls_planner/rust/src/main.rs
index 66c3afa4b4..8e86561784 100644
--- a/dimos/navigation/nav_3d/mls_planner/rust/src/main.rs
+++ b/dimos/navigation/nav_3d/mls_planner/rust/src/main.rs
@@ -18,7 +18,7 @@ use std::time::{Duration, Instant, SystemTime, UNIX_EPOCH};
 use dimos_mls_planner::edges::{edges_to_segments, PlannerGraph};
 use dimos_mls_planner::mls_planner::{Config, Planner, RegionBounds};
 use dimos_mls_planner::voxel::surface_point_xyz;
-use dimos_module::{error_throttled, run, warn_throttled, Input, LcmTransport, Module, Output};
+use dimos_module::{error_throttled, run_with_transport, warn_throttled, Input, Module, Output};
 use lcm_msgs::geometry_msgs::{Point, Pose, PoseStamped, Quaternion};
 use lcm_msgs::nav_msgs::Path;
 use lcm_msgs::sensor_msgs::{PointCloud2, PointField};
@@ -553,10 +553,7 @@ fn read_f32_le(buf: &[u8], off: usize) -> f32 {
 
 #[tokio::main]
 async fn main() {
-    let transport = LcmTransport::new()
-        .await
-        .expect("failed to create LCM transport");
-    run::<MlsPlanner, _>(transport).await;
+    run_with_transport::<MlsPlanner>().await;
 }
 
 #[cfg(test)]
diff --git a/dimos/protocol/pubsub/impl/test_zenohpubsub.py b/dimos/protocol/pubsub/impl/test_zenohpubsub.py
index 75def5b6b7..6c17974028 100644
--- a/dimos/protocol/pubsub/impl/test_zenohpubsub.py
+++ b/dimos/protocol/pubsub/impl/test_zenohpubsub.py
@@ -252,6 +252,20 @@ def test_partial_qos_omits_unset_fields(self, pubsub) -> None:
         assert pub.congestion_control == zenoh.CongestionControl.BLOCK
 
 
+class TestZenohQoSToWire:
+    """QoS serialization sent to native modules over stdin."""
+
+    def test_full_qos(self) -> None:
+        qos = ZenohQoS(reliability="best_effort", congestion_control="drop")
+        assert qos.to_wire() == {"reliability": "best_effort", "congestion_control": "drop"}
+
+    def test_partial_qos_omits_unset(self) -> None:
+        assert ZenohQoS(congestion_control="block").to_wire() == {"congestion_control": "block"}
+
+    def test_empty_qos(self) -> None:
+        assert ZenohQoS().to_wire() == {}
+
+
 class TestTopicKeyExprConversion:
     """Tests for _topic_to_key_expr and _key_expr_to_topic round-trip."""
 
diff --git a/dimos/protocol/pubsub/impl/zenohpubsub.py b/dimos/protocol/pubsub/impl/zenohpubsub.py
index afaa413c43..5f63aba7a1 100644
--- a/dimos/protocol/pubsub/impl/zenohpubsub.py
+++ b/dimos/protocol/pubsub/impl/zenohpubsub.py
@@ -57,6 +57,15 @@ def publisher_kwargs(self) -> dict[str, Any]:
             kwargs["congestion_control"] = _CONGESTION_CONTROL[self.congestion_control]
         return kwargs
 
+    def to_wire(self) -> dict[str, str]:
+        """Serializable QoS sent to native modules over stdin. Only set fields."""
+        wire: dict[str, str] = {}
+        if self.reliability is not None:
+            wire["reliability"] = self.reliability
+        if self.congestion_control is not None:
+            wire["congestion_control"] = self.congestion_control
+        return wire
+
 
 # The two delivery classes used across DimOS. Everything else keeps zenoh's
 # publisher defaults (reliable, drop under congestion).
@@ -74,20 +83,24 @@ class Topic(LCMTopic):
 
     qos: ZenohQoS | None = None
 
+    @property
+    def key_expr(self) -> str:
+        """The Zenoh key expression for this topic, embedding lcm_type after a '/'.
 
-def _topic_to_key_expr(topic: LCMTopic) -> str:
-    """Convert a Topic to a Zenoh key expression.
+        Examples:
+            Topic("dimos/cmd_vel", Twist) -> "dimos/cmd_vel/geometry_msgs.Twist"
+            Topic("dimos/data")           -> "dimos/data"
+        """
+        if self.lcm_type is not None:
+            return f"{self.pattern}/{self.lcm_type.msg_name}"
+        return self.pattern
 
-    Embeds the lcm_type in the key using '/' instead of '#' (what LCM does).
 
-    Examples:
-        Topic("dimos/cmd_vel", Twist) -> "dimos/cmd_vel/geometry_msgs.Twist"
-        Topic("dimos/data")           -> "dimos/data"
-    """
-    base = topic.topic if isinstance(topic.topic, str) else topic.pattern
-    if topic.lcm_type is not None:
-        return f"{base}/{topic.lcm_type.msg_name}"
-    return base
+def _topic_to_key_expr(topic: LCMTopic) -> str:
+    """Convert any LCM-compatible Topic to a Zenoh key expression."""
+    if isinstance(topic, Topic):
+        return topic.key_expr
+    return Topic(topic=topic.topic, lcm_type=topic.lcm_type).key_expr
 
 
 @lru_cache(maxsize=1024)
diff --git a/examples/native-modules/rust/Cargo.lock b/examples/native-modules/rust/Cargo.lock
index 8a7fda6bba..cc40f75244 100644
--- a/examples/native-modules/rust/Cargo.lock
+++ b/examples/native-modules/rust/Cargo.lock
@@ -3,117 +3,124 @@
 version = 4
 
 [[package]]
-name = "aho-corasick"
-version = "1.1.4"
+name = "adler2"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
+checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
+
+[[package]]
+name = "aes"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b169f7a6d4742236a0a00c541b845991d0ac43e546831af1249753ab4c3aa3a0"
 dependencies = [
- "memchr",
+ "cfg-if",
+ "cipher",
+ "cpufeatures",
 ]
 
 [[package]]
-name = "byteorder"
-version = "1.5.0"
+name = "ahash"
+version = "0.8.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+checksum = "5a15f179cd60c4584b8a8c596927aadc462e27f2ca70c04e0071964a73ba7a75"
+dependencies = [
+ "cfg-if",
+ "getrandom 0.3.4",
+ "once_cell",
+ "version_check",
+ "zerocopy",
+]
 
 [[package]]
-name = "bytes"
-version = "1.11.1"
+name = "aho-corasick"
+version = "1.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
+checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
+dependencies = [
+ "memchr",
+]
 
 [[package]]
-name = "cfg-if"
-version = "1.0.4"
+name = "allocator-api2"
+version = "0.2.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
+checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
 
 [[package]]
-name = "darling"
-version = "0.20.11"
+name = "android_system_properties"
+version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc7f46116c46ff9ab3eb1597a45688b6715c6e628b5c133e288e709a29bcb4ee"
+checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
 dependencies = [
- "darling_core",
- "darling_macro",
+ "libc",
 ]
 
 [[package]]
-name = "darling_core"
-version = "0.20.11"
+name = "anyhow"
+version = "1.0.103"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d00b9596d185e565c2207a0b01f8bd1a135483d02d9b7b0a54b11da8d53412e"
-dependencies = [
- "fnv",
- "ident_case",
- "proc-macro2",
- "quote",
- "strsim",
- "syn",
-]
+checksum = "2a4385e2e34eb35d6b3efe798b9eb88096925d87726c0798709bf56d9ed84af3"
 
 [[package]]
-name = "darling_macro"
-version = "0.20.11"
+name = "arc-swap"
+version = "1.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc34b93ccb385b40dc71c6fceac4b2ad23662c7eeb248cf10d529b7e055b6ead"
+checksum = "6a3a1fd6f75306b68087b831f025c712524bcb19aad54e557b1129cfa0a2b207"
 dependencies = [
- "darling_core",
- "quote",
- "syn",
+ "rustversion",
 ]
 
 [[package]]
-name = "dimos-lcm"
-version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#e7c9428b7201cdfeadecd181c77c9e2d60a14503"
-dependencies = [
- "byteorder",
- "socket2 0.5.10",
- "tokio",
-]
+name = "array-init"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d62b7694a562cdf5a74227903507c56ab2cc8bdd1f781ed5cb4cf9c9f810bfc"
 
 [[package]]
-name = "dimos-module"
-version = "0.1.0"
+name = "asn1-rs"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7f43a50ac4fdca5df8e885c21b835997f0a1cdee65494a6847694a98652d9d8"
 dependencies = [
- "dimos-lcm",
- "dimos-module-macros",
- "serde",
- "serde_json",
- "tokio",
- "tracing",
- "tracing-subscriber",
- "validator",
+ "asn1-rs-derive",
+ "asn1-rs-impl",
+ "displaydoc",
+ "nom",
+ "num-traits",
+ "rusticata-macros",
+ "thiserror 2.0.18",
+ "time",
 ]
 
 [[package]]
-name = "dimos-module-macros"
-version = "0.1.0"
+name = "asn1-rs-derive"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3109e49b1e4909e9db6515a30c633684d68cdeaa252f215214cb4fa1a5bfee2c"
 dependencies = [
  "proc-macro2",
  "quote",
  "syn",
+ "synstructure",
 ]
 
 [[package]]
-name = "dimos-native-module-examples"
-version = "0.1.0"
+name = "asn1-rs-impl"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7"
 dependencies = [
- "dimos-module",
- "lcm-msgs",
- "serde",
- "tokio",
- "tracing",
- "validator",
+ "proc-macro2",
+ "quote",
+ "syn",
 ]
 
 [[package]]
-name = "displaydoc"
-version = "0.2.6"
+name = "async-trait"
+version = "0.1.89"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ac70aa55017e108007fbaf5aa0f54b021c98f92ff8af59d42eda9da96e3dd4f"
+checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -121,332 +128,422 @@ dependencies = [
 ]
 
 [[package]]
-name = "errno"
-version = "0.3.14"
+name = "autocfg"
+version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
-dependencies = [
- "libc",
- "windows-sys 0.61.2",
-]
+checksum = "f2032f911046de80f0a198e0901378627c33f59ea0ac00e363d481118bd70a53"
 
 [[package]]
-name = "fnv"
-version = "1.0.7"
+name = "base64"
+version = "0.22.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
+checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
 [[package]]
-name = "form_urlencoded"
-version = "1.2.2"
+name = "base64ct"
+version = "1.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb4cb245038516f5f85277875cdaa4f7d2c9a0fa0468de06ed190163b1581fcf"
+checksum = "2af50177e190e07a26ab74f8b1efbfe2ef87da2116221318cb1c2e82baf7de06"
+
+[[package]]
+name = "bit-vec"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b71798fca2c1fe1086445a7258a4bc81e6e49dcd24c8d0dd9a1e57395b603f51"
 dependencies = [
- "percent-encoding",
+ "serde",
 ]
 
 [[package]]
-name = "icu_collections"
-version = "2.2.0"
+name = "bitflags"
+version = "2.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2984d1cd16c883d7935b9e07e44071dca8d917fd52ecc02c04d5fa0b5a3f191c"
+checksum = "b4388bee8683e3d04af747c73422af53102d2bd24d9eadb6cbc100baef4b43f8"
 dependencies = [
- "displaydoc",
- "potential_utf",
- "utf8_iter",
- "yoke",
- "zerofrom",
- "zerovec",
+ "serde_core",
 ]
 
 [[package]]
-name = "icu_locale_core"
-version = "2.2.0"
+name = "block-buffer"
+version = "0.10.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92219b62b3e2b4d88ac5119f8904c10f8f61bf7e95b640d25ba3075e6cac2c29"
+checksum = "3078c7629b62d3f0439517fa394996acacc5cbc91c5a20d8c658e77abd503a71"
 dependencies = [
- "displaydoc",
- "litemap",
- "tinystr",
- "writeable",
- "zerovec",
+ "generic-array",
 ]
 
 [[package]]
-name = "icu_normalizer"
-version = "2.2.0"
+name = "bs58"
+version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c56e5ee99d6e3d33bd91c5d85458b6005a22140021cc324cea84dd0e72cff3b4"
+checksum = "bf88ba1141d185c399bee5288d850d63b8369520c1eafc32a0430b5b6c287bf4"
 dependencies = [
- "icu_collections",
- "icu_normalizer_data",
- "icu_properties",
- "icu_provider",
- "smallvec",
- "zerovec",
+ "tinyvec",
 ]
 
 [[package]]
-name = "icu_normalizer_data"
-version = "2.2.0"
+name = "bumpalo"
+version = "3.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da3be0ae77ea334f4da67c12f149704f19f81d1adf7c51cf482943e84a2bad38"
+checksum = "72f5acc6cb2ba439de613abc23857ec3d78374d8ed5ac84e9d11336e87da8649"
 
 [[package]]
-name = "icu_properties"
-version = "2.2.0"
+name = "byteorder"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bee3b67d0ea5c2cca5003417989af8996f8604e34fb9ddf96208a033901e70de"
-dependencies = [
- "icu_collections",
- "icu_locale_core",
- "icu_properties_data",
- "icu_provider",
- "zerotrie",
- "zerovec",
-]
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
-name = "icu_properties_data"
-version = "2.2.0"
+name = "bytes"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e2bbb201e0c04f7b4b3e14382af113e17ba4f63e2c9d2ee626b720cbce54a14"
+checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
 
 [[package]]
-name = "icu_provider"
-version = "2.2.0"
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+ "zenoh-protocol",
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+ "serde_yaml",
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+ "tracing",
+ "uhlc",
+ "validated_struct",
+ "zenoh-core",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-util",
 ]
 
 [[package]]
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- "smallvec",
- "thread_local",
- "tracing",
- "tracing-core",
- "tracing-log",
- "tracing-serde",
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+ "tokio",
+ "zenoh-result",
+ "zenoh-runtime",
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 [[package]]
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+ "zenoh-result",
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 [[package]]
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+ "getrandom 0.2.17",
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+ "schemars 1.2.1",
  "serde",
+ "token-cell",
+ "zenoh-result",
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 [[package]]
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+ "zenoh-link-tls",
+ "zenoh-link-udp",
+ "zenoh-link-unixsock_stream",
+ "zenoh-link-ws",
+ "zenoh-protocol",
+ "zenoh-result",
+]
 
 [[package]]
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 dependencies = [
- "idna",
- "once_cell",
- "regex",
+ "async-trait",
+ "base64",
+ "bytes",
+ "flume",
+ "futures",
+ "quinn",
+ "quinn-proto",
+ "rcgen",
+ "rustls",
+ "rustls-pemfile",
+ "rustls-pki-types",
+ "rustls-webpki",
+ "secrecy",
  "serde",
- "serde_derive",
- "serde_json",
- "url",
- "validator_derive",
+ "socket2 0.5.10",
+ "time",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "webpki-roots",
+ "x509-parser",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-util",
 ]
 
 [[package]]
-name = "validator_derive"
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+name = "zenoh-link-quic"
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 dependencies = [
- "darling",
- "once_cell",
- "proc-macro-error2",
- "proc-macro2",
- "quote",
- "syn",
+ "async-trait",
+ "rustls-webpki",
+ "time",
+ "tracing",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-link-quic_datagram",
+ "zenoh-protocol",
+ "zenoh-result",
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 [[package]]
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+ "async-trait",
+ "rustls-webpki",
+ "time",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+]
 
 [[package]]
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+dependencies = [
+ "async-trait",
+ "socket2 0.5.10",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+]
 
 [[package]]
-name = "windows-link"
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+name = "zenoh-link-tls"
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-checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
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+dependencies = [
+ "async-trait",
+ "base64",
+ "rustls",
+ "rustls-pemfile",
+ "rustls-pki-types",
+ "rustls-webpki",
+ "secrecy",
+ "socket2 0.5.10",
+ "time",
+ "tls-listener",
+ "tokio",
+ "tokio-rustls",
+ "tokio-util",
+ "tracing",
+ "webpki-roots",
+ "x509-parser",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+]
 
 [[package]]
-name = "windows-sys"
-version = "0.52.0"
+name = "zenoh-link-udp"
+version = "1.9.0"
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-checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+checksum = "ca106ca8c3b7625e7071b9d7408955726e994c8f35fd68e00de8ac58b185d52d"
 dependencies = [
- "windows-targets",
+ "async-trait",
+ "libc",
+ "socket2 0.5.10",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "windows-sys 0.61.2",
+ "zenoh-buffers",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-link-quic_datagram",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
 ]
 
 [[package]]
-name = "windows-sys"
-version = "0.61.2"
+name = "zenoh-link-unixsock_stream"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
+checksum = "09f2b7f60cdb5ad771d1a4f8e2eda15529e96dbe81c0ad2c1015b4c194347676"
 dependencies = [
- "windows-link",
+ "async-trait",
+ "nix",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "uuid",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
 ]
 
 [[package]]
-name = "windows-targets"
-version = "0.52.6"
+name = "zenoh-link-ws"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
+checksum = "9a7fb54899f7fbdfc4fd02e647f9bba0d6e089cca4355acafb9499c510ebea79"
 dependencies = [
- "windows_aarch64_gnullvm",
- "windows_aarch64_msvc",
- "windows_i686_gnu",
- "windows_i686_gnullvm",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_gnullvm",
- "windows_x86_64_msvc",
+ "async-trait",
+ "futures-util",
+ "tokio",
+ "tokio-tungstenite",
+ "tokio-util",
+ "tracing",
+ "url",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-util",
 ]
 
 [[package]]
-name = "windows_aarch64_gnullvm"
-version = "0.52.6"
+name = "zenoh-macros"
+version = "1.9.0"
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-checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
+checksum = "9310b02a8f6dc4bd04d9ce6b318b9d00182aeeeeca60410003307d63a2569a3f"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+ "zenoh-keyexpr",
+]
 
 [[package]]
-name = "windows_aarch64_msvc"
-version = "0.52.6"
+name = "zenoh-plugin-trait"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
+checksum = "e235815d14b22448aa1db948560328761530932fa7a2f9a3c14853b3f0267941"
+dependencies = [
+ "git-version",
+ "libloading",
+ "serde",
+ "stabby",
+ "tracing",
+ "zenoh-config",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+ "zenoh-util",
+]
 
 [[package]]
-name = "windows_i686_gnu"
-version = "0.52.6"
+name = "zenoh-protocol"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
+checksum = "eeab45020bbecc077f14f06ee8f5aee65ce760af72481e663cac58b5dbfa66dd"
+dependencies = [
+ "const_format",
+ "rand 0.8.6",
+ "serde",
+ "uhlc",
+ "zenoh-buffers",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+]
 
 [[package]]
-name = "windows_i686_gnullvm"
-version = "0.52.6"
+name = "zenoh-result"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
+checksum = "cca8e65b08f211833fe31cf38d73a48c6e1d6d900914e1ddd8cb176b3355b75b"
+dependencies = [
+ "anyhow",
+]
 
 [[package]]
-name = "windows_i686_msvc"
-version = "0.52.6"
+name = "zenoh-runtime"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
+checksum = "dd3d0c1558f909c9a74bde5e398c5733f81eb954818451baac2a6c09f48d6a5e"
+dependencies = [
+ "lazy_static",
+ "ron",
+ "serde",
+ "tokio",
+ "tracing",
+ "zenoh-macros",
+ "zenoh-result",
+]
 
 [[package]]
-name = "windows_x86_64_gnu"
-version = "0.52.6"
+name = "zenoh-sync"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
+checksum = "9588f87db82b414a3e73d13312026be826332f53d270966e3e19f77f7fa1f06d"
+dependencies = [
+ "arc-swap",
+ "event-listener",
+ "futures",
+ "tokio",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+]
 
 [[package]]
-name = "windows_x86_64_gnullvm"
-version = "0.52.6"
+name = "zenoh-task"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
+checksum = "1e2ac601598a27152b366ba1c6825216f01f77bb898f719b7752099a3594ce72"
+dependencies = [
+ "futures",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-runtime",
+]
 
 [[package]]
-name = "windows_x86_64_msvc"
-version = "0.52.6"
+name = "zenoh-transport"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
+checksum = "80800c4adc26dbe81418735068541cf39820a95ec988114f04dd014775ba7c97"
+dependencies = [
+ "async-trait",
+ "crossbeam-utils",
+ "flume",
+ "futures",
+ "lazy_static",
+ "lz4_flex",
+ "rand 0.8.6",
+ "ringbuffer-spsc",
+ "rsa",
+ "serde",
+ "sha3",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-crypto",
+ "zenoh-link",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-task",
+ "zenoh-util",
+]
 
 [[package]]
-name = "writeable"
-version = "0.6.3"
+name = "zenoh-util"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ffae5123b2d3fc086436f8834ae3ab053a283cfac8fe0a0b8eaae044768a4c4"
+checksum = "1b10369df18a781a3e675c9a2cbf54adb44c9dc2a376c1014c5e488410df2179"
+dependencies = [
+ "async-trait",
+ "const_format",
+ "flume",
+ "home",
+ "humantime",
+ "lazy_static",
+ "libc",
+ "libloading",
+ "pnet_datalink",
+ "schemars 1.2.1",
+ "serde",
+ "serde_json",
+ "shellexpand",
+ "tokio",
+ "tracing",
+ "tracing-subscriber",
+ "winapi",
+ "zenoh-core",
+ "zenoh-result",
+]
 
 [[package]]
-name = "yoke"
-version = "0.8.2"
+name = "zerocopy"
+version = "0.8.52"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "abe8c5fda708d9ca3df187cae8bfb9ceda00dd96231bed36e445a1a48e66f9ca"
+checksum = "ce1022995ff5ff5d841ad7d994facc23098cd40152f2c1d11cd607c6f530653f"
 dependencies = [
- "stable_deref_trait",
- "yoke-derive",
- "zerofrom",
+ "zerocopy-derive",
 ]
 
 [[package]]
-name = "yoke-derive"
-version = "0.8.2"
+name = "zerocopy-derive"
+version = "0.8.52"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de844c262c8848816172cef550288e7dc6c7b7814b4ee56b3e1553f275f1858e"
+checksum = "1ae7f38b72ec2a254e2b87ef277cf2cd4fb97cbebf944faa6f33354da0867930"
 dependencies = [
  "proc-macro2",
  "quote",
  "syn",
- "synstructure",
 ]
 
 [[package]]
@@ -869,6 +4117,12 @@ dependencies = [
  "synstructure",
 ]
 
+[[package]]
+name = "zeroize"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e13c156562582aa81c60cb29407084cdb54c4164760106ab78e6c5b0858cf64e"
+
 [[package]]
 name = "zerotrie"
 version = "0.2.4"
diff --git a/examples/native-modules/rust/Cargo.toml b/examples/native-modules/rust/Cargo.toml
index 4df2cf25f7..6bfee2b74f 100644
--- a/examples/native-modules/rust/Cargo.toml
+++ b/examples/native-modules/rust/Cargo.toml
@@ -4,12 +4,12 @@ version = "0.1.0"
 edition = "2021"
 
 [[bin]]
-name = "native_ping"
-path = "src/native_ping.rs"
+name = "ping"
+path = "src/ping.rs"
 
 [[bin]]
-name = "native_pong"
-path = "src/native_pong.rs"
+name = "pong"
+path = "src/pong.rs"
 
 [dependencies]
 dimos-module = { path = "../../../native/rust/dimos-module" }
diff --git a/examples/native-modules/rust/src/native_ping.rs b/examples/native-modules/rust/src/ping.rs
similarity index 90%
rename from examples/native-modules/rust/src/native_ping.rs
rename to examples/native-modules/rust/src/ping.rs
index ec9f532e61..b629fb0003 100644
--- a/examples/native-modules/rust/src/native_ping.rs
+++ b/examples/native-modules/rust/src/ping.rs
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-use dimos_module::{run, Input, LcmTransport, Module, Output};
+use dimos_module::{run_with_transport, Input, Module, Output};
 use lcm_msgs::geometry_msgs::{Twist, Vector3};
 use tokio::time::{interval, Duration};
 
@@ -63,8 +63,5 @@ impl Ping {
 
 #[tokio::main]
 async fn main() {
-    let transport = LcmTransport::new()
-        .await
-        .expect("Failed to create transport");
-    run::<Ping, _>(transport).await;
+    run_with_transport::<Ping>().await;
 }
diff --git a/examples/native-modules/rust/src/native_pong.rs b/examples/native-modules/rust/src/pong.rs
similarity index 85%
rename from examples/native-modules/rust/src/native_pong.rs
rename to examples/native-modules/rust/src/pong.rs
index a8d1c712cf..56ca448b3c 100644
--- a/examples/native-modules/rust/src/native_pong.rs
+++ b/examples/native-modules/rust/src/pong.rs
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-use dimos_module::{native_config, run, Input, LcmTransport, Module, Output};
+use dimos_module::{native_config, run_with_transport, Input, Module, Output};
 use lcm_msgs::geometry_msgs::{Twist, Vector3};
 
 #[native_config]
@@ -49,8 +49,5 @@ impl Pong {
 
 #[tokio::main]
 async fn main() {
-    let transport = LcmTransport::new()
-        .await
-        .expect("Failed to create transport");
-    run::<Pong, _>(transport).await;
+    run_with_transport::<Pong>().await;
 }
diff --git a/examples/native-modules/rust_ping_pong.py b/examples/native-modules/rust_ping_pong.py
index 3672418050..59eec40ad0 100644
--- a/examples/native-modules/rust_ping_pong.py
+++ b/examples/native-modules/rust_ping_pong.py
@@ -12,18 +12,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Two Rust NativeModules for a simple ping-pong example.
-
-PingModule and PongModule both declare a `data` port (Twist) and a `confirm` port (Twist).
-Ping publishes to data (received by pong), and Pong publishes to confirm (received by ping).
-Topics and module configs are sent through stdin to modules.
+"""A single ping-pong example that runs over either transport.
 
 Run with:
-    python examples/native-modules/rust_ping_pong.py
+    python examples/native-modules/rust_ping_pong.py --transport lcm
+    python examples/native-modules/rust_ping_pong.py --transport zenoh
 """
 
 from __future__ import annotations
 
+import argparse
 from pathlib import Path
 
 from dimos.core.coordination.blueprints import autoconnect
@@ -34,18 +32,19 @@
 
 _RUST_DIR = Path(__file__).parent / "rust"
 _EXAMPLES = _RUST_DIR / "target" / "release"
+_BUILD = "cargo build --release"
 
 
 class PingConfig(NativeModuleConfig):
-    executable: str = str(_EXAMPLES / "native_ping")
-    build_command: str = "cargo build --release"
+    executable: str = str(_EXAMPLES / "ping")
+    build_command: str = _BUILD
     cwd: str = str(_RUST_DIR)
     stdin_config: bool = True
 
 
 class PongConfig(NativeModuleConfig):
-    executable: str = str(_EXAMPLES / "native_pong")
-    build_command: str = "cargo build --release"
+    executable: str = str(_EXAMPLES / "pong")
+    build_command: str = _BUILD
     cwd: str = str(_RUST_DIR)
     stdin_config: bool = True
     sample_config: int = 42
@@ -67,10 +66,14 @@ class PongModule(NativeModule):
     confirm: Out[Twist]
 
 
+def blueprint():
+    return autoconnect(PingModule.blueprint(), PongModule.blueprint())
+
+
 if __name__ == "__main__":
-    ModuleCoordinator.build(
-        autoconnect(
-            PingModule.blueprint(),
-            PongModule.blueprint(),
-        ).global_config(viewer="none")
-    ).loop()
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--transport", choices=["lcm", "zenoh"], default="lcm")
+    args = parser.parse_args()
+
+    bp = blueprint().global_config(viewer="none", transport=args.transport)
+    ModuleCoordinator.build(bp).loop()
diff --git a/native/rust/Cargo.lock b/native/rust/Cargo.lock
index 165d4b923f..1e95f02742 100644
--- a/native/rust/Cargo.lock
+++ b/native/rust/Cargo.lock
@@ -3,107 +3,113 @@
 version = 4
 
 [[package]]
-name = "aho-corasick"
-version = "1.1.4"
+name = "adler2"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
+checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
+
+[[package]]
+name = "aes"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b169f7a6d4742236a0a00c541b845991d0ac43e546831af1249753ab4c3aa3a0"
 dependencies = [
- "memchr",
+ "cfg-if",
+ "cipher",
+ "cpufeatures",
 ]
 
 [[package]]
-name = "byteorder"
-version = "1.5.0"
+name = "ahash"
+version = "0.8.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+checksum = "5a15f179cd60c4584b8a8c596927aadc462e27f2ca70c04e0071964a73ba7a75"
+dependencies = [
+ "cfg-if",
+ "getrandom 0.3.4",
+ "once_cell",
+ "version_check",
+ "zerocopy",
+]
 
 [[package]]
-name = "bytes"
-version = "1.11.1"
+name = "aho-corasick"
+version = "1.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
+checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
+dependencies = [
+ "memchr",
+]
 
 [[package]]
-name = "cfg-if"
-version = "1.0.4"
+name = "allocator-api2"
+version = "0.2.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
+checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
 
 [[package]]
-name = "darling"
-version = "0.20.11"
+name = "android_system_properties"
+version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc7f46116c46ff9ab3eb1597a45688b6715c6e628b5c133e288e709a29bcb4ee"
+checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
 dependencies = [
- "darling_core",
- "darling_macro",
+ "libc",
 ]
 
 [[package]]
-name = "darling_core"
-version = "0.20.11"
+name = "anyhow"
+version = "1.0.102"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d00b9596d185e565c2207a0b01f8bd1a135483d02d9b7b0a54b11da8d53412e"
-dependencies = [
- "fnv",
- "ident_case",
- "proc-macro2",
- "quote",
- "strsim",
- "syn",
-]
+checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c"
 
 [[package]]
-name = "darling_macro"
-version = "0.20.11"
+name = "arc-swap"
+version = "1.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc34b93ccb385b40dc71c6fceac4b2ad23662c7eeb248cf10d529b7e055b6ead"
+checksum = "6a3a1fd6f75306b68087b831f025c712524bcb19aad54e557b1129cfa0a2b207"
 dependencies = [
- "darling_core",
- "quote",
- "syn",
+ "rustversion",
 ]
 
 [[package]]
-name = "dimos-lcm"
-version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#e7c9428b7201cdfeadecd181c77c9e2d60a14503"
-dependencies = [
- "byteorder",
- "socket2 0.5.10",
- "tokio",
-]
+name = "array-init"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d62b7694a562cdf5a74227903507c56ab2cc8bdd1f781ed5cb4cf9c9f810bfc"
 
 [[package]]
-name = "dimos-module"
-version = "0.1.0"
+name = "asn1-rs"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7f43a50ac4fdca5df8e885c21b835997f0a1cdee65494a6847694a98652d9d8"
 dependencies = [
- "dimos-lcm",
- "dimos-module-macros",
- "lcm-msgs",
- "serde",
- "serde_json",
- "tokio",
- "tracing",
- "tracing-subscriber",
- "tracing-test",
- "validator",
+ "asn1-rs-derive",
+ "asn1-rs-impl",
+ "displaydoc",
+ "nom",
+ "num-traits",
+ "rusticata-macros",
+ "thiserror 2.0.18",
+ "time",
 ]
 
 [[package]]
-name = "dimos-module-macros"
-version = "0.1.0"
+name = "asn1-rs-derive"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3109e49b1e4909e9db6515a30c633684d68cdeaa252f215214cb4fa1a5bfee2c"
 dependencies = [
  "proc-macro2",
  "quote",
  "syn",
+ "synstructure",
 ]
 
 [[package]]
-name = "displaydoc"
-version = "0.2.6"
+name = "asn1-rs-impl"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ac70aa55017e108007fbaf5aa0f54b021c98f92ff8af59d42eda9da96e3dd4f"
+checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -111,332 +117,435 @@ dependencies = [
 ]
 
 [[package]]
-name = "errno"
-version = "0.3.14"
+name = "async-trait"
+version = "0.1.89"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
+checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb"
 dependencies = [
- "libc",
- "windows-sys 0.61.2",
+ "proc-macro2",
+ "quote",
+ "syn",
 ]
 
 [[package]]
-name = "fnv"
-version = "1.0.7"
+name = "autocfg"
+version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
+checksum = "f2032f911046de80f0a198e0901378627c33f59ea0ac00e363d481118bd70a53"
 
 [[package]]
-name = "form_urlencoded"
-version = "1.2.2"
+name = "base64"
+version = "0.22.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb4cb245038516f5f85277875cdaa4f7d2c9a0fa0468de06ed190163b1581fcf"
-dependencies = [
- "percent-encoding",
-]
+checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
 [[package]]
-name = "icu_collections"
-version = "2.2.0"
+name = "base64ct"
+version = "1.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2984d1cd16c883d7935b9e07e44071dca8d917fd52ecc02c04d5fa0b5a3f191c"
-dependencies = [
- "displaydoc",
- "potential_utf",
- "utf8_iter",
- "yoke",
- "zerofrom",
- "zerovec",
-]
+checksum = "2af50177e190e07a26ab74f8b1efbfe2ef87da2116221318cb1c2e82baf7de06"
 
 [[package]]
-name = "icu_locale_core"
-version = "2.2.0"
+name = "bit-vec"
+version = "0.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92219b62b3e2b4d88ac5119f8904c10f8f61bf7e95b640d25ba3075e6cac2c29"
+checksum = "b71798fca2c1fe1086445a7258a4bc81e6e49dcd24c8d0dd9a1e57395b603f51"
 dependencies = [
- "displaydoc",
- "litemap",
- "tinystr",
- "writeable",
- "zerovec",
+ "serde",
 ]
 
 [[package]]
-name = "icu_normalizer"
-version = "2.2.0"
+name = "bitflags"
+version = "2.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c56e5ee99d6e3d33bd91c5d85458b6005a22140021cc324cea84dd0e72cff3b4"
+checksum = "b4388bee8683e3d04af747c73422af53102d2bd24d9eadb6cbc100baef4b43f8"
 dependencies = [
- "icu_collections",
- "icu_normalizer_data",
- "icu_properties",
- "icu_provider",
- "smallvec",
- "zerovec",
+ "serde_core",
 ]
 
 [[package]]
-name = "icu_normalizer_data"
-version = "2.2.0"
+name = "block-buffer"
+version = "0.10.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da3be0ae77ea334f4da67c12f149704f19f81d1adf7c51cf482943e84a2bad38"
+checksum = "3078c7629b62d3f0439517fa394996acacc5cbc91c5a20d8c658e77abd503a71"
+dependencies = [
+ "generic-array",
+]
 
 [[package]]
-name = "icu_properties"
-version = "2.2.0"
+name = "bs58"
+version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bee3b67d0ea5c2cca5003417989af8996f8604e34fb9ddf96208a033901e70de"
+checksum = "bf88ba1141d185c399bee5288d850d63b8369520c1eafc32a0430b5b6c287bf4"
 dependencies = [
- "icu_collections",
- "icu_locale_core",
- "icu_properties_data",
- "icu_provider",
- "zerotrie",
- "zerovec",
+ "tinyvec",
 ]
 
 [[package]]
-name = "icu_properties_data"
-version = "2.2.0"
+name = "bumpalo"
+version = "3.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e2bbb201e0c04f7b4b3e14382af113e17ba4f63e2c9d2ee626b720cbce54a14"
+checksum = "72f5acc6cb2ba439de613abc23857ec3d78374d8ed5ac84e9d11336e87da8649"
 
 [[package]]
-name = "icu_provider"
-version = "2.2.0"
+name = "byteorder"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "139c4cf31c8b5f33d7e199446eff9c1e02decfc2f0eec2c8d71f65befa45b421"
-dependencies = [
- "displaydoc",
- "icu_locale_core",
- "writeable",
- "yoke",
- "zerofrom",
- "zerotrie",
- "zerovec",
-]
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
-name = "ident_case"
-version = "1.0.1"
+name = "bytes"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
+checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
 
 [[package]]
-name = "idna"
-version = "1.1.0"
+name = "cc"
+version = "1.2.65"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b0875f23caa03898994f6ddc501886a45c7d3d62d04d2d90788d47be1b1e4de"
+checksum = "e228eec9be7c17ccb640b59b36a5cd805ea2a564a4c5e162c2f659fea30d3b96"
 dependencies = [
- "idna_adapter",
- "smallvec",
- "utf8_iter",
+ "find-msvc-tools",
+ "shlex",
 ]
 
 [[package]]
-name = "idna_adapter"
-version = "1.2.2"
+name = "cesu8"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb68373c0d6620ef8105e855e7745e18b0d00d3bdb07fb532e434244cdb9a714"
-dependencies = [
- "icu_normalizer",
- "icu_properties",
-]
+checksum = "6d43a04d8753f35258c91f8ec639f792891f748a1edbd759cf1dcea3382ad83c"
 
 [[package]]
-name = "itoa"
-version = "1.0.18"
+name = "cfg-if"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
+checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
 
 [[package]]
-name = "lazy_static"
-version = "1.5.0"
+name = "cfg_aliases"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
+checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
 
 [[package]]
-name = "lcm-msgs"
-version = "0.1.0"
-source = "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#e7c9428b7201cdfeadecd181c77c9e2d60a14503"
+name = "chrono"
+version = "0.4.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1aa79e62e7697b8e29b513a68abacf485adcd1fe8284a4316c5ae868e6633327"
 dependencies = [
- "byteorder",
+ "iana-time-zone",
+ "num-traits",
+ "serde",
+ "windows-link",
 ]
 
 [[package]]
-name = "libc"
-version = "0.2.186"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68ab91017fe16c622486840e4c83c9a37afeff978bd239b5293d61ece587de66"
-
-[[package]]
-name = "litemap"
-version = "0.8.2"
+name = "cipher"
+version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92daf443525c4cce67b150400bc2316076100ce0b3686209eb8cf3c31612e6f0"
+checksum = "773f3b9af64447d2ce9850330c473515014aa235e6a783b02db81ff39e4a3dad"
+dependencies = [
+ "crypto-common",
+ "inout",
+]
 
 [[package]]
-name = "log"
-version = "0.4.29"
+name = "combine"
+version = "4.6.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e5032e24019045c762d3c0f28f5b6b8bbf38563a65908389bf7978758920897"
+checksum = "ba5a308b75df32fe02788e748662718f03fde005016435c444eea572398219fd"
+dependencies = [
+ "bytes",
+ "memchr",
+]
 
 [[package]]
-name = "matchers"
-version = "0.2.0"
+name = "concurrent-queue"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d1525a2a28c7f4fa0fc98bb91ae755d1e2d1505079e05539e35bc876b5d65ae9"
+checksum = "4ca0197aee26d1ae37445ee532fefce43251d24cc7c166799f4d46817f1d3973"
 dependencies = [
- "regex-automata",
+ "crossbeam-utils",
 ]
 
 [[package]]
-name = "memchr"
-version = "2.8.0"
+name = "const-oid"
+version = "0.9.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
+checksum = "c2459377285ad874054d797f3ccebf984978aa39129f6eafde5cdc8315b612f8"
 
 [[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
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+checksum = "44b80a042fc71419fc4952a90c9cbcfb323c0ced048125d8b44fd362f184045f"
+dependencies = [
+ "aes",
+ "hmac",
+ "rand 0.8.6",
+ "rand_chacha 0.3.1",
+ "sha3",
+ "zenoh-result",
+]
 
 [[package]]
-name = "url"
-version = "2.5.8"
+name = "zenoh-keyexpr"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
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 dependencies = [
- "form_urlencoded",
- "idna",
- "percent-encoding",
+ "getrandom 0.2.17",
+ "hashbrown 0.16.1",
+ "keyed-set",
+ "rand 0.8.6",
+ "schemars 1.2.1",
  "serde",
+ "token-cell",
+ "zenoh-result",
 ]
 
 [[package]]
-name = "utf8_iter"
-version = "1.0.4"
+name = "zenoh-link"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b6c140620e7ffbb22c2dee59cafe6084a59b5ffc27a8859a5f0d494b5d52b6be"
+checksum = "a71103cfe96a851ef5ff781d64dda95c70e70208f74e186d6d294ba21e89cc64"
+dependencies = [
+ "zenoh-config",
+ "zenoh-link-commons",
+ "zenoh-link-quic",
+ "zenoh-link-quic_datagram",
+ "zenoh-link-tcp",
+ "zenoh-link-tls",
+ "zenoh-link-udp",
+ "zenoh-link-unixsock_stream",
+ "zenoh-link-ws",
+ "zenoh-protocol",
+ "zenoh-result",
+]
 
 [[package]]
-name = "validator"
-version = "0.20.0"
+name = "zenoh-link-commons"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "43fb22e1a008ece370ce08a3e9e4447a910e92621bb49b85d6e48a45397e7cfa"
+checksum = "8dc91a5163793f842b4b016b2d50640db5a3533370348eb796e7078c576e87cf"
 dependencies = [
- "idna",
- "once_cell",
- "regex",
+ "async-trait",
+ "base64",
+ "bytes",
+ "flume",
+ "futures",
+ "quinn",
+ "quinn-proto",
+ "rcgen",
+ "rustls",
+ "rustls-pemfile",
+ "rustls-pki-types",
+ "rustls-webpki",
+ "secrecy",
  "serde",
- "serde_derive",
- "serde_json",
- "url",
- "validator_derive",
+ "socket2 0.5.10",
+ "time",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "webpki-roots",
+ "x509-parser",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-util",
 ]
 
 [[package]]
-name = "validator_derive"
-version = "0.20.0"
+name = "zenoh-link-quic"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b7df16e474ef958526d1205f6dda359fdfab79d9aa6d54bafcb92dcd07673dca"
+checksum = "17d065833147be895b7091cc3e505433c2c8b3172e36c9e06e84a5779a4aa655"
 dependencies = [
- "darling",
- "once_cell",
- "proc-macro-error2",
- "proc-macro2",
- "quote",
- "syn",
+ "async-trait",
+ "rustls-webpki",
+ "time",
+ "tracing",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-link-quic_datagram",
+ "zenoh-protocol",
+ "zenoh-result",
 ]
 
 [[package]]
-name = "valuable"
-version = "0.1.1"
+name = "zenoh-link-quic_datagram"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ba73ea9cf16a25df0c8caa16c51acb937d5712a8429db78a3ee29d5dcacd3a65"
+checksum = "e81b15df31a3d0ddde9a4fb3fbc928e9a2a6d6a4de38bcf55badd3a5208947a4"
+dependencies = [
+ "async-trait",
+ "rustls-webpki",
+ "time",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+]
 
 [[package]]
-name = "wasi"
-version = "0.11.1+wasi-snapshot-preview1"
+name = "zenoh-link-tcp"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ccf3ec651a847eb01de73ccad15eb7d99f80485de043efb2f370cd654f4ea44b"
+checksum = "4e912ac36902173dfc295317e001dc630e5ac9a70c2780f2d2eac500b205a700"
+dependencies = [
+ "async-trait",
+ "socket2 0.5.10",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+]
 
 [[package]]
-name = "windows-link"
-version = "0.2.1"
+name = "zenoh-link-tls"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
+checksum = "e6f6b308ae2599f9c1344fbcd3418b2c3a3a9fe287ec39501ba834168493ba37"
+dependencies = [
+ "async-trait",
+ "base64",
+ "rustls",
+ "rustls-pemfile",
+ "rustls-pki-types",
+ "rustls-webpki",
+ "secrecy",
+ "socket2 0.5.10",
+ "time",
+ "tls-listener",
+ "tokio",
+ "tokio-rustls",
+ "tokio-util",
+ "tracing",
+ "webpki-roots",
+ "x509-parser",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+]
 
 [[package]]
-name = "windows-sys"
-version = "0.52.0"
+name = "zenoh-link-udp"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+checksum = "ca106ca8c3b7625e7071b9d7408955726e994c8f35fd68e00de8ac58b185d52d"
 dependencies = [
- "windows-targets",
+ "async-trait",
+ "libc",
+ "socket2 0.5.10",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "windows-sys 0.61.2",
+ "zenoh-buffers",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-link-quic_datagram",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
 ]
 
 [[package]]
-name = "windows-sys"
-version = "0.61.2"
+name = "zenoh-link-unixsock_stream"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
+checksum = "09f2b7f60cdb5ad771d1a4f8e2eda15529e96dbe81c0ad2c1015b4c194347676"
 dependencies = [
- "windows-link",
+ "async-trait",
+ "nix",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "uuid",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
 ]
 
 [[package]]
-name = "windows-targets"
-version = "0.52.6"
+name = "zenoh-link-ws"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
+checksum = "9a7fb54899f7fbdfc4fd02e647f9bba0d6e089cca4355acafb9499c510ebea79"
 dependencies = [
- "windows_aarch64_gnullvm",
- "windows_aarch64_msvc",
- "windows_i686_gnu",
- "windows_i686_gnullvm",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_gnullvm",
- "windows_x86_64_msvc",
+ "async-trait",
+ "futures-util",
+ "tokio",
+ "tokio-tungstenite",
+ "tokio-util",
+ "tracing",
+ "url",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-util",
 ]
 
 [[package]]
-name = "windows_aarch64_gnullvm"
-version = "0.52.6"
+name = "zenoh-macros"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
+checksum = "9310b02a8f6dc4bd04d9ce6b318b9d00182aeeeeca60410003307d63a2569a3f"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+ "zenoh-keyexpr",
+]
 
 [[package]]
-name = "windows_aarch64_msvc"
-version = "0.52.6"
+name = "zenoh-plugin-trait"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
+checksum = "e235815d14b22448aa1db948560328761530932fa7a2f9a3c14853b3f0267941"
+dependencies = [
+ "git-version",
+ "libloading",
+ "serde",
+ "stabby",
+ "tracing",
+ "zenoh-config",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+ "zenoh-util",
+]
 
 [[package]]
-name = "windows_i686_gnu"
-version = "0.52.6"
+name = "zenoh-protocol"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
+checksum = "eeab45020bbecc077f14f06ee8f5aee65ce760af72481e663cac58b5dbfa66dd"
+dependencies = [
+ "const_format",
+ "rand 0.8.6",
+ "serde",
+ "uhlc",
+ "zenoh-buffers",
+ "zenoh-keyexpr",
+ "zenoh-macros",
+ "zenoh-result",
+]
 
 [[package]]
-name = "windows_i686_gnullvm"
-version = "0.52.6"
+name = "zenoh-result"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
+checksum = "cca8e65b08f211833fe31cf38d73a48c6e1d6d900914e1ddd8cb176b3355b75b"
+dependencies = [
+ "anyhow",
+]
 
 [[package]]
-name = "windows_i686_msvc"
-version = "0.52.6"
+name = "zenoh-runtime"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
+checksum = "dd3d0c1558f909c9a74bde5e398c5733f81eb954818451baac2a6c09f48d6a5e"
+dependencies = [
+ "lazy_static",
+ "ron",
+ "serde",
+ "tokio",
+ "tracing",
+ "zenoh-macros",
+ "zenoh-result",
+]
 
 [[package]]
-name = "windows_x86_64_gnu"
-version = "0.52.6"
+name = "zenoh-sync"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
+checksum = "9588f87db82b414a3e73d13312026be826332f53d270966e3e19f77f7fa1f06d"
+dependencies = [
+ "arc-swap",
+ "event-listener",
+ "futures",
+ "tokio",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+]
 
 [[package]]
-name = "windows_x86_64_gnullvm"
-version = "0.52.6"
+name = "zenoh-task"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
+checksum = "1e2ac601598a27152b366ba1c6825216f01f77bb898f719b7752099a3594ce72"
+dependencies = [
+ "futures",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-runtime",
+]
 
 [[package]]
-name = "windows_x86_64_msvc"
-version = "0.52.6"
+name = "zenoh-transport"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
+checksum = "80800c4adc26dbe81418735068541cf39820a95ec988114f04dd014775ba7c97"
+dependencies = [
+ "async-trait",
+ "crossbeam-utils",
+ "flume",
+ "futures",
+ "lazy_static",
+ "lz4_flex",
+ "rand 0.8.6",
+ "ringbuffer-spsc",
+ "rsa",
+ "serde",
+ "sha3",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-crypto",
+ "zenoh-link",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-task",
+ "zenoh-util",
+]
 
 [[package]]
-name = "writeable"
-version = "0.6.3"
+name = "zenoh-util"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ffae5123b2d3fc086436f8834ae3ab053a283cfac8fe0a0b8eaae044768a4c4"
+checksum = "1b10369df18a781a3e675c9a2cbf54adb44c9dc2a376c1014c5e488410df2179"
+dependencies = [
+ "async-trait",
+ "const_format",
+ "flume",
+ "home",
+ "humantime",
+ "lazy_static",
+ "libc",
+ "libloading",
+ "pnet_datalink",
+ "schemars 1.2.1",
+ "serde",
+ "serde_json",
+ "shellexpand",
+ "tokio",
+ "tracing",
+ "tracing-subscriber",
+ "winapi",
+ "zenoh-core",
+ "zenoh-result",
+]
 
 [[package]]
-name = "yoke"
-version = "0.8.2"
+name = "zerocopy"
+version = "0.8.52"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "abe8c5fda708d9ca3df187cae8bfb9ceda00dd96231bed36e445a1a48e66f9ca"
+checksum = "ce1022995ff5ff5d841ad7d994facc23098cd40152f2c1d11cd607c6f530653f"
 dependencies = [
- "stable_deref_trait",
- "yoke-derive",
- "zerofrom",
+ "zerocopy-derive",
 ]
 
 [[package]]
-name = "yoke-derive"
-version = "0.8.2"
+name = "zerocopy-derive"
+version = "0.8.52"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de844c262c8848816172cef550288e7dc6c7b7814b4ee56b3e1553f275f1858e"
+checksum = "1ae7f38b72ec2a254e2b87ef277cf2cd4fb97cbebf944faa6f33354da0867930"
 dependencies = [
  "proc-macro2",
  "quote",
  "syn",
- "synstructure",
 ]
 
 [[package]]
@@ -880,6 +4128,12 @@ dependencies = [
  "synstructure",
 ]
 
+[[package]]
+name = "zeroize"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e13c156562582aa81c60cb29407084cdb54c4164760106ab78e6c5b0858cf64e"
+
 [[package]]
 name = "zerotrie"
 version = "0.2.4"
diff --git a/native/rust/README.md b/native/rust/README.md
index 2b79d7d840..8b89359944 100644
--- a/native/rust/README.md
+++ b/native/rust/README.md
@@ -2,13 +2,13 @@
 
 Two crates:
 
-- **`dimos-module`**: runtime. `Module` trait, `Builder`, `Input`/`Output`, `Transport`/`LcmTransport`, `run()`.
+- **`dimos-module`**: runtime. `Module` trait, `Builder`, `Input`/`Output`, `Transport` (`LcmTransport`/`ZenohTransport`), `run_with_transport()`.
 - **`dimos-module-macros`**: `#[derive(Module)]` and `#[native_config]` proc-macros.
 
 ## Writing a module
 
 ```rust
-use dimos_module::{native_config, run, Input, LcmTransport, Module, Output};
+use dimos_module::{native_config, run_with_transport, Input, Module, Output};
 use lcm_msgs::geometry_msgs::Twist;
 
 #[native_config]
@@ -43,11 +43,14 @@ impl MyModule {
 
 #[tokio::main]
 async fn main() {
-    let transport = LcmTransport::new().await.unwrap();
-    run::<MyModule, _>(transport).await;
+    run_with_transport::<MyModule>().await;
 }
 ```
 
+## Transport
+
+Every transport is compiled into the binary. `run_with_transport` opens the one named by the `DIMOS_TRANSPORT` env var (`lcm` or `zenoh`), which the Python coordinator sets from `global_config.transport` (the `--transport` flag). The module never names a transport, so the same binary runs over either.
+
 ## Attributes
 
 - `#[derive(Module)]`: on the struct. Required.
@@ -128,13 +131,13 @@ impl ::dimos_module::Module for MyModule {
 }
 ```
 
-`builder.input` registers a route from the resolved topic into an mpsc channel that backs `Input<T>`. `builder.output` hands back an `Output<T>` carrying a sender into the shared publish channel.
+`builder.input` registers a route from the resolved topic into an mpsc channel that backs `Input<T>`. `builder.output` hands back an `Output<T>` carrying a sender into its own per-channel publish queue.
 
 ## Lifecycle inside `run()`
 
-1. Read one JSON line from stdin, parse into `(topics, config)`.
+1. Read one JSON line from stdin, parse into topics, config, and per-channel publisher QoS.
 2. `M::build(&mut builder, config)`: macro-generated, populates each field.
-3. Spawn two tokio tasks: one drives `transport.recv()` and dispatches to input channels; one drains the publish channel into `transport.publish()`. The two run independently so a slow publish can't block recv.
+3. Subscribe each input channel on the transport (push callbacks into the input mpsc channels), and spawn one publish worker per output channel, each draining its queue into `transport.publish()`. Receive and publish run independently, and a stalled publish on one channel can't block the others.
 4. `module.setup().await`.
 5. `module.handle().await`, racing ctrl-c.
 6. `module.teardown().await`.
diff --git a/native/rust/dimos-module/Cargo.toml b/native/rust/dimos-module/Cargo.toml
index b695a077a8..e11df3f02b 100644
--- a/native/rust/dimos-module/Cargo.toml
+++ b/native/rust/dimos-module/Cargo.toml
@@ -14,7 +14,11 @@ serde_json = "1"
 tracing = "0.1"
 tracing-subscriber = { version = "0.3", features = ["json", "env-filter"] }
 validator = { version = "0.20", features = ["derive"] }
+zenoh = { version = "1", features = ["unstable"] }
 
 [dev-dependencies]
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 tracing-test = "0.2"
+
+[[example]]
+name = "transport_bench"
diff --git a/native/rust/dimos-module/examples/transport_bench.rs b/native/rust/dimos-module/examples/transport_bench.rs
new file mode 100644
index 0000000000..8b51c56089
--- /dev/null
+++ b/native/rust/dimos-module/examples/transport_bench.rs
@@ -0,0 +1,212 @@
+// Copyright 2026 Dimensional Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+//! Closed-loop ping/pong throughput benchmark for the `Transport` impls.
+//!
+//! One generic loop runs over LCM and then Zenoh and prints a comparison table,
+//! measuring transport-stack overhead on loopback rather than cross-host cost.
+//!
+//! Run with:
+//!     cargo run --release --example transport_bench
+
+use std::sync::Arc;
+use std::time::{Duration, Instant};
+
+use dimos_module::transport::Dispatch;
+use dimos_module::{LcmTransport, Transport, ZenohTransport};
+use tokio::sync::mpsc;
+
+const PING_KEY: &str = "dimos_bench/ping";
+const PONG_KEY: &str = "dimos_bench/pong";
+const WINDOW: Duration = Duration::from_secs(5);
+
+const SIZES: &[usize] = &[32, 1 << 10, 64 << 10, 1 << 20, 4 << 20];
+
+struct Sample {
+    bytes: usize,
+    transport: &'static str,
+    // None when the size could not complete cleanly (publish error or a dropped
+    // echo, e.g. a large message past LCM's reassembly limit).
+    messages: Option<u64>,
+    elapsed: Duration,
+}
+
+#[tokio::main]
+async fn main() {
+    let lcm = bench_pair(
+        "LCM",
+        Arc::new(LcmTransport::new().await.expect("lcm ping")),
+        Arc::new(LcmTransport::new().await.expect("lcm pong")),
+    )
+    .await;
+
+    let zenoh = bench_pair(
+        "Zenoh",
+        Arc::new(ZenohTransport::new().await.expect("zenoh ping")),
+        Arc::new(ZenohTransport::new().await.expect("zenoh pong")),
+    )
+    .await;
+
+    print_table(&lcm, &zenoh);
+}
+
+async fn bench_pair<T: Transport>(
+    transport: &'static str,
+    ping: Arc<T>,
+    pong: Arc<T>,
+) -> Vec<Sample> {
+    // pong echoes every ping straight back. The dispatch callback is sync, so it
+    // forwards onto a channel that an async task drains and republishes.
+    let (echo_tx, mut echo_rx) = mpsc::unbounded_channel::<Vec<u8>>();
+    let echo: Dispatch = Arc::new(move |bytes: &[u8]| {
+        let _ = echo_tx.send(bytes.to_vec());
+    });
+    pong.subscribe(PING_KEY, echo)
+        .await
+        .expect("pong subscribe");
+    let pong_pub = Arc::clone(&pong);
+    tokio::spawn(async move {
+        while let Some(bytes) = echo_rx.recv().await {
+            let _ = pong_pub.publish(PONG_KEY, bytes).await;
+        }
+    });
+
+    // ping signals each returned echo onto a channel its timed loop awaits.
+    let (ack_tx, mut ack_rx) = mpsc::unbounded_channel::<()>();
+    let ack: Dispatch = Arc::new(move |_bytes: &[u8]| {
+        let _ = ack_tx.send(());
+    });
+    ping.subscribe(PONG_KEY, ack).await.expect("ping subscribe");
+
+    let mut samples = Vec::new();
+    for &bytes in SIZES {
+        let payload = vec![0u8; bytes];
+        samples.push(run_size(transport, &*ping, &payload, &mut ack_rx).await);
+    }
+    samples
+}
+
+async fn run_size<T: Transport>(
+    transport: &'static str,
+    ping: &T,
+    payload: &[u8],
+    ack_rx: &mut mpsc::UnboundedReceiver<()>,
+) -> Sample {
+    let failed = Sample {
+        bytes: payload.len(),
+        transport,
+        messages: None,
+        elapsed: WINDOW,
+    };
+
+    println!(
+        "Running {} benchmark ({})",
+        transport,
+        human_size(payload.len())
+    );
+
+    // Warm up until the first echo returns, covering subscription / multicast
+    // join setup, then drop any acks the warmup piled up.
+    if !warm_up(ping, payload, ack_rx).await {
+        return failed;
+    }
+    while ack_rx.try_recv().is_ok() {}
+
+    let start = Instant::now();
+    let mut messages = 0u64;
+    while start.elapsed() < WINDOW {
+        if ping.publish(PING_KEY, payload.to_vec()).await.is_err() {
+            return failed;
+        }
+        // Bound the wait so a dropped echo ends the size instead of hanging.
+        match tokio::time::timeout(Duration::from_secs(2), ack_rx.recv()).await {
+            Ok(Some(())) => messages += 1,
+            _ => return failed,
+        }
+    }
+
+    Sample {
+        bytes: payload.len(),
+        transport,
+        messages: Some(messages),
+        elapsed: start.elapsed(),
+    }
+}
+
+async fn warm_up<T: Transport>(
+    ping: &T,
+    payload: &[u8],
+    ack_rx: &mut mpsc::UnboundedReceiver<()>,
+) -> bool {
+    let deadline = Instant::now() + Duration::from_secs(5);
+    while Instant::now() < deadline {
+        if ping.publish(PING_KEY, payload.to_vec()).await.is_err() {
+            return false;
+        }
+        let echoed = tokio::time::timeout(Duration::from_millis(200), ack_rx.recv()).await;
+        if matches!(echoed, Ok(Some(()))) {
+            return true;
+        }
+    }
+    false
+}
+
+fn print_table(lcm: &[Sample], zenoh: &[Sample]) {
+    println!();
+    println!(
+        "Transport benchmark - closed-loop ping/pong, {}s per size, 1 message in flight",
+        WINDOW.as_secs()
+    );
+    println!();
+    println!(
+        " {:<8} {:<10} {:>10} {:>10} {:>9} {:>10}",
+        "Size", "Transport", "Messages", "Msgs/s", "MB/s", "RTT(us)"
+    );
+    println!(" {}", "-".repeat(61));
+    for (l, z) in lcm.iter().zip(zenoh.iter()) {
+        print_row(l);
+        print_row(z);
+    }
+    println!();
+}
+
+fn print_row(s: &Sample) {
+    let size = human_size(s.bytes);
+    match s.messages {
+        Some(n) if n > 0 => {
+            let secs = s.elapsed.as_secs_f64();
+            let msgs_s = n as f64 / secs;
+            let mb_s = (n as usize * s.bytes) as f64 / secs / 1e6;
+            let rtt_us = s.elapsed.as_micros() as f64 / n as f64;
+            println!(
+                " {:<8} {:<10} {:>10} {:>10.0} {:>9.2} {:>10.0}",
+                size, s.transport, n, msgs_s, mb_s, rtt_us
+            );
+        }
+        _ => println!(
+            " {:<8} {:<10} {:>10} {:>10} {:>9} {:>10}",
+            size, s.transport, "N/A", "-", "-", "-"
+        ),
+    }
+}
+
+fn human_size(bytes: usize) -> String {
+    if bytes >= 1 << 20 {
+        format!("{} MB", bytes >> 20)
+    } else if bytes >= 1 << 10 {
+        format!("{} KB", bytes >> 10)
+    } else {
+        format!("{} B", bytes)
+    }
+}
diff --git a/native/rust/dimos-module/src/lcm.rs b/native/rust/dimos-module/src/lcm.rs
index 063ca67519..893ed6f888 100644
--- a/native/rust/dimos-module/src/lcm.rs
+++ b/native/rust/dimos-module/src/lcm.rs
@@ -12,32 +12,85 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+use std::collections::HashMap;
 use std::io;
+use std::sync::atomic::{AtomicBool, Ordering};
+use std::sync::{Arc, Mutex};
+use std::time::Duration;
 
 use dimos_lcm::{Lcm, LcmOptions};
 
-use crate::transport::Transport;
+use crate::transport::{Dispatch, Transport};
 
 /// LCM UDP multicast transport. Wraps `dimos_lcm::Lcm`.
-pub struct LcmTransport(Lcm);
+///
+/// The multicast socket receives every channel, so `subscribe` registers a
+/// callback locally and one recv loop routes each message by channel.
+pub struct LcmTransport {
+    inner: Arc<Lcm>,
+    routes: Arc<Mutex<HashMap<String, Vec<Dispatch>>>>,
+    listening: AtomicBool,
+}
 
 impl LcmTransport {
     pub async fn new() -> io::Result<Self> {
-        Ok(Self(Lcm::new().await?))
+        Ok(Self::wrap(Lcm::new().await?))
     }
 
     pub async fn with_options(opts: LcmOptions) -> io::Result<Self> {
-        Ok(Self(Lcm::with_options(opts).await?))
+        Ok(Self::wrap(Lcm::with_options(opts).await?))
+    }
+
+    fn wrap(inner: Lcm) -> Self {
+        Self {
+            inner: Arc::new(inner),
+            routes: Arc::new(Mutex::new(HashMap::new())),
+            listening: AtomicBool::new(false),
+        }
+    }
+
+    fn spawn_recv_loop(&self) {
+        let inner = Arc::clone(&self.inner);
+        let routes = Arc::clone(&self.routes);
+        tokio::spawn(async move {
+            loop {
+                match inner.recv().await {
+                    Ok(msg) => {
+                        let callbacks = routes.lock().unwrap().get(&msg.channel).cloned();
+                        if let Some(callbacks) = callbacks {
+                            for cb in &callbacks {
+                                cb(&msg.data);
+                            }
+                        }
+                    }
+                    Err(e) => {
+                        crate::error_throttled!(
+                            Duration::from_secs(1),
+                            error = %e,
+                            "lcm recv error"
+                        );
+                    }
+                }
+            }
+        });
     }
 }
 
 impl Transport for LcmTransport {
-    async fn publish(&self, channel: &str, data: &[u8]) -> io::Result<()> {
-        self.0.publish(channel, data).await
+    async fn publish(&self, channel: &str, data: Vec<u8>) -> io::Result<()> {
+        self.inner.publish(channel, &data).await
     }
 
-    async fn recv(&self) -> io::Result<(String, Vec<u8>)> {
-        let msg = self.0.recv().await?;
-        Ok((msg.channel, msg.data))
+    async fn subscribe(&self, channel: &str, on_msg: Dispatch) -> io::Result<()> {
+        self.routes
+            .lock()
+            .unwrap()
+            .entry(channel.to_string())
+            .or_default()
+            .push(on_msg);
+        if !self.listening.swap(true, Ordering::SeqCst) {
+            self.spawn_recv_loop();
+        }
+        Ok(())
     }
 }
diff --git a/native/rust/dimos-module/src/lib.rs b/native/rust/dimos-module/src/lib.rs
index 1f88eb57dd..56f17ec8b8 100644
--- a/native/rust/dimos-module/src/lib.rs
+++ b/native/rust/dimos-module/src/lib.rs
@@ -16,11 +16,40 @@ pub mod lcm;
 pub mod log;
 pub mod module;
 pub mod transport;
+pub mod zenoh;
 
 pub use dimos_module_macros::{native_config, Module};
 pub use lcm::LcmTransport;
 pub use module::{run, Builder, Input, Module, ModuleConfig, NativeConfig, NoConfig, Output};
 pub use transport::Transport;
+pub use zenoh::ZenohTransport;
 
 // Re-export LcmOptions so callers don't need to depend on dimos-lcm directly.
 pub use dimos_lcm::LcmOptions;
+
+/// Run module `M` over the transport named by the `DIMOS_TRANSPORT` env var.
+///
+/// Every transport is compiled in, so one binary follows whichever transport the
+/// coordinator picks at runtime. The coordinator always sets the variable, so an
+/// unset or unknown value is an error.
+pub async fn run_with_transport<M: Module>() {
+    match std::env::var("DIMOS_TRANSPORT").as_deref() {
+        Ok("lcm") => {
+            run::<M, _>(
+                LcmTransport::new()
+                    .await
+                    .expect("failed to create lcm transport"),
+            )
+            .await
+        }
+        Ok("zenoh") => {
+            run::<M, _>(
+                ZenohTransport::new()
+                    .await
+                    .expect("failed to create zenoh transport"),
+            )
+            .await
+        }
+        other => panic!("DIMOS_TRANSPORT must be 'lcm' or 'zenoh', got {other:?}"),
+    }
+}
diff --git a/native/rust/dimos-module/src/module.rs b/native/rust/dimos-module/src/module.rs
index 101a5d0a9b..c02077a130 100644
--- a/native/rust/dimos-module/src/module.rs
+++ b/native/rust/dimos-module/src/module.rs
@@ -27,7 +27,7 @@ use serde::de::DeserializeOwned;
 use serde::{Deserialize, Serialize};
 use validator::Validate;
 
-use crate::transport::Transport;
+use crate::transport::{Dispatch, Transport};
 
 /// Marker trait for a config checked by `#[native_config]`: every field required,
 /// no Rust-side defaults, no unknown fields. Implemented only by the macro.
@@ -61,12 +61,12 @@ fn init_tracing() {
         .try_init();
 }
 
-const INPUT_CHANNEL_CAPACITY: usize = 1024;
-const PUBLISH_CHANNEL_CAPACITY: usize = 1024;
+const INPUT_CHANNEL_CAPACITY: usize = 128;
+const PUBLISH_CHANNEL_CAPACITY: usize = 32;
 
 // Each input() call produces a TypedRoute that decodes its message type
 // and forwards it to the right Input's mpsc channel.
-pub(crate) trait Route: Send {
+pub(crate) trait Route: Send + Sync {
     fn try_dispatch(&self, data: &[u8]);
 }
 
@@ -120,27 +120,24 @@ impl<T> Input<T> {
 pub struct Output<T> {
     pub topic: String,
     encode: fn(&T) -> Vec<u8>,
-    sender: mpsc::Sender<(String, Vec<u8>)>,
+    sender: mpsc::Sender<Vec<u8>>,
 }
 
 impl<T> Output<T> {
     pub async fn publish(&self, msg: &T) -> io::Result<()> {
         let data = (self.encode)(msg);
         self.sender
-            .send((self.topic.clone(), data))
+            .send(data)
             .await
             .map_err(|_| io::Error::new(io::ErrorKind::BrokenPipe, "background task gone"))
     }
 }
 
-/// Parse a JSON config line as written by the Python NativeModule coordinator.
-/// Returns `(topics, config)`. Extracted so it can be unit-tested without stdin.
-fn parse_config_json<C: DeserializeOwned + Serialize>(
-    line: &str,
+/// Extract `(topics, config)` from an already-parsed config object. `run`
+/// parses the line once and also reads `qos` from it, so this takes the value.
+fn parse_config_value<C: DeserializeOwned + Serialize>(
+    json: &serde_json::Value,
 ) -> io::Result<(HashMap<String, String>, C)> {
-    let json: serde_json::Value = serde_json::from_str(line.trim())
-        .map_err(|e| io::Error::new(io::ErrorKind::InvalidData, e))?;
-
     let mut topics = HashMap::new();
     if let Some(t) = json.get("topics").and_then(|v| v.as_object()) {
         for (port, topic) in t {
@@ -279,18 +276,16 @@ pub trait Module: Sized + Send + 'static {
 pub struct Builder {
     topics: HashMap<String, String>,
     routes: HashMap<String, Vec<Box<dyn Route>>>,
-    publish_tx: mpsc::Sender<(String, Vec<u8>)>,
+    // One publish queue per output channel, drained by its own worker.
+    outputs: Vec<(String, mpsc::Receiver<Vec<u8>>)>,
 }
 
 impl Builder {
-    pub(crate) fn new(
-        topics: HashMap<String, String>,
-        publish_tx: mpsc::Sender<(String, Vec<u8>)>,
-    ) -> Self {
+    pub(crate) fn new(topics: HashMap<String, String>) -> Self {
         Self {
             topics,
             routes: HashMap::new(),
-            publish_tx,
+            outputs: Vec::new(),
         }
     }
 
@@ -324,48 +319,59 @@ impl Builder {
         }
     }
 
-    pub fn output<T>(&self, port: &str, encode: fn(&T) -> Vec<u8>) -> Output<T> {
+    pub fn output<T>(&mut self, port: &str, encode: fn(&T) -> Vec<u8>) -> Output<T> {
+        let topic = self.topic_for(port);
+        let (tx, rx) = mpsc::channel(PUBLISH_CHANNEL_CAPACITY);
+        self.outputs.push((topic.clone(), rx));
         Output {
-            topic: self.topic_for(port),
+            topic,
             encode,
-            sender: self.publish_tx.clone(),
+            sender: tx,
         }
     }
 }
 
-pub(crate) fn spawn_pubsub_tasks<T: Transport>(
-    transport: T,
+/// Subscribe each channel on the transport, dispatching its messages to that
+/// channel's routes.
+pub(crate) async fn subscribe_routes<T: Transport>(
+    transport: &T,
     routes: HashMap<String, Vec<Box<dyn Route>>>,
-    mut publish_rx: mpsc::Receiver<(String, Vec<u8>)>,
-) -> (tokio::task::JoinHandle<()>, tokio::task::JoinHandle<()>) {
-    let transport = Arc::new(transport);
-
-    let recv_transport = Arc::clone(&transport);
-    let recv_handle = tokio::spawn(async move {
-        loop {
-            match recv_transport.recv().await {
-                Ok((channel, data)) => {
-                    if let Some(rs) = routes.get(&channel) {
-                        for route in rs {
-                            route.try_dispatch(&data);
-                        }
-                    }
+) -> io::Result<()> {
+    for (channel, routes) in routes {
+        let routes = Arc::new(routes);
+        let dispatch: Dispatch = Arc::new(move |bytes: &[u8]| {
+            for route in routes.iter() {
+                // A panicking handler must not kill the delivery loop.
+                let dispatched = std::panic::catch_unwind(std::panic::AssertUnwindSafe(|| {
+                    route.try_dispatch(bytes)
+                }));
+                if dispatched.is_err() {
+                    error!("dispatch handler panicked; message dropped");
                 }
-                Err(e) => error!(error = %e, "recv error"),
             }
-        }
-    });
+        });
+        transport.subscribe(&channel, dispatch).await?;
+    }
+    Ok(())
+}
 
-    let pub_transport = Arc::clone(&transport);
-    let pub_handle = tokio::spawn(async move {
-        while let Some((topic, data)) = publish_rx.recv().await {
-            if let Err(e) = pub_transport.publish(&topic, &data).await {
-                error!(topic = %topic, error = %e, "publish error");
+/// Spawn one worker per output channel so they don't block each other
+pub(crate) fn spawn_publish_tasks<T: Transport>(
+    transport: Arc<T>,
+    outputs: Vec<(String, mpsc::Receiver<Vec<u8>>)>,
+) -> tokio::task::JoinSet<()> {
+    let mut tasks = tokio::task::JoinSet::new();
+    for (topic, mut rx) in outputs {
+        let transport = Arc::clone(&transport);
+        tasks.spawn(async move {
+            while let Some(data) = rx.recv().await {
+                if let Err(e) = transport.publish(&topic, data).await {
+                    error!(topic = %topic, error = %e, "publish error");
+                }
             }
-        }
-    });
-
-    (recv_handle, pub_handle)
+        });
+    }
+    tasks
 }
 
 fn propagate_task_failure(name: &str, res: Result<(), tokio::task::JoinError>) {
@@ -400,8 +406,11 @@ where
     BufReader::new(tokio::io::stdin())
         .read_line(&mut line)
         .await?;
-    let (topics, config) = parse_config_json::<M::Config>(&line)?;
+    let json: serde_json::Value = serde_json::from_str(line.trim())
+        .map_err(|e| io::Error::new(io::ErrorKind::InvalidData, e))?;
+    let (topics, config) = parse_config_value::<M::Config>(&json)?;
     validate_config(&config)?;
+    transport.set_publisher_qos(json.get("qos").unwrap_or(&serde_json::Value::Null));
 
     let exe = std::env::current_exe()
         .ok()
@@ -412,11 +421,13 @@ where
     }
     info!(exe = %exe, config = ?config, "config loaded");
 
-    let (publish_tx, publish_rx) = mpsc::channel::<(String, Vec<u8>)>(PUBLISH_CHANNEL_CAPACITY);
-    let mut builder = Builder::new(topics, publish_tx);
+    let mut builder = Builder::new(topics);
     let mut module = M::build(&mut builder, config);
-    let (mut recv_handle, mut pub_handle) =
-        spawn_pubsub_tasks(transport, builder.routes, publish_rx);
+
+    subscribe_routes(&transport, builder.routes).await?;
+    // Kept alive until teardown so the subscriptions stay live.
+    let transport = Arc::new(transport);
+    let mut pub_tasks = spawn_publish_tasks(Arc::clone(&transport), builder.outputs);
 
     module.setup().await;
 
@@ -424,8 +435,7 @@ where
     let failure = tokio::select! {
         _ = module.handle() => None,
         _ = tokio::signal::ctrl_c() => None,
-        res = &mut recv_handle => Some(("recv", res)),
-        res = &mut pub_handle => Some(("publish", res)),
+        Some(res) = pub_tasks.join_next() => Some(("publish", res)),
     };
 
     module.teardown().await;
@@ -448,19 +458,32 @@ mod tests {
     use std::time::{Duration, Instant};
     use tokio::sync::Notify;
 
+    /// Parse a raw config line the way `run` does, for exercising
+    /// `parse_config_value` from the string form the coordinator sends.
+    fn parse_config_json<C: DeserializeOwned + Serialize>(
+        line: &str,
+    ) -> io::Result<(HashMap<String, String>, C)> {
+        let json: serde_json::Value = serde_json::from_str(line.trim())
+            .map_err(|e| io::Error::new(io::ErrorKind::InvalidData, e))?;
+        parse_config_value(&json)
+    }
+
     type InboundQueue = Mutex<VecDeque<(String, Vec<u8>)>>;
 
-    /// Mock transport for testing message timing.
+    /// Mock push transport for testing receive/publish concurrency.
     ///
-    /// Lets us test for concurrency and blocking when handling different messages.
+    /// `subscribe` registers callbacks. One delivery loop drains an inbound queue
+    /// into them, independent of the publish path.
     struct ControllableMockTransport {
         inbound: Arc<InboundQueue>,
         inbound_notify: Arc<Notify>,
+        subscriptions: Arc<Mutex<HashMap<String, Vec<Dispatch>>>>,
+        listening: Arc<AtomicBool>,
         publish_delay_ms: Arc<AtomicU64>,
         publish_entered: Arc<Notify>,
-        recv_returned: Arc<Notify>,
-        recv_log: Arc<Mutex<Vec<Instant>>>,
         publish_log: Arc<Mutex<Vec<Instant>>>,
+        dispatch_entered: Arc<Notify>,
+        dispatch_log: Arc<Mutex<Vec<Instant>>>,
     }
 
     impl ControllableMockTransport {
@@ -468,17 +491,44 @@ mod tests {
             Self {
                 inbound: Arc::new(InboundQueue::new(VecDeque::new())),
                 inbound_notify: Arc::new(Notify::new()),
+                subscriptions: Arc::new(Mutex::new(HashMap::new())),
+                listening: Arc::new(AtomicBool::new(false)),
                 publish_delay_ms: Arc::new(AtomicU64::new(0)),
                 publish_entered: Arc::new(Notify::new()),
-                recv_returned: Arc::new(Notify::new()),
-                recv_log: Arc::new(Mutex::new(Vec::new())),
                 publish_log: Arc::new(Mutex::new(Vec::new())),
+                dispatch_entered: Arc::new(Notify::new()),
+                dispatch_log: Arc::new(Mutex::new(Vec::new())),
             }
         }
+
+        fn spawn_delivery_loop(&self) {
+            let inbound = Arc::clone(&self.inbound);
+            let inbound_notify = Arc::clone(&self.inbound_notify);
+            let subscriptions = Arc::clone(&self.subscriptions);
+            let dispatch_entered = Arc::clone(&self.dispatch_entered);
+            let dispatch_log = Arc::clone(&self.dispatch_log);
+            tokio::spawn(async move {
+                loop {
+                    let popped = inbound.lock().unwrap().pop_front();
+                    if let Some((channel, data)) = popped {
+                        dispatch_entered.notify_one();
+                        let callbacks = subscriptions.lock().unwrap().get(&channel).cloned();
+                        if let Some(callbacks) = callbacks {
+                            for cb in &callbacks {
+                                cb(&data);
+                            }
+                        }
+                        dispatch_log.lock().unwrap().push(Instant::now());
+                    } else {
+                        inbound_notify.notified().await;
+                    }
+                }
+            });
+        }
     }
 
     impl crate::transport::Transport for ControllableMockTransport {
-        async fn publish(&self, _channel: &str, _data: &[u8]) -> io::Result<()> {
+        async fn publish(&self, _channel: &str, _data: Vec<u8>) -> io::Result<()> {
             self.publish_entered.notify_one();
             let delay = self.publish_delay_ms.load(Ordering::Relaxed);
             if delay > 0 {
@@ -488,16 +538,17 @@ mod tests {
             Ok(())
         }
 
-        async fn recv(&self) -> io::Result<(String, Vec<u8>)> {
-            loop {
-                let popped = self.inbound.lock().unwrap().pop_front();
-                if let Some(msg) = popped {
-                    self.recv_log.lock().unwrap().push(Instant::now());
-                    self.recv_returned.notify_one();
-                    return Ok(msg);
-                }
-                self.inbound_notify.notified().await;
+        async fn subscribe(&self, channel: &str, on_msg: Dispatch) -> io::Result<()> {
+            self.subscriptions
+                .lock()
+                .unwrap()
+                .entry(channel.to_string())
+                .or_default()
+                .push(on_msg);
+            if !self.listening.swap(true, Ordering::SeqCst) {
+                self.spawn_delivery_loop();
             }
+            Ok(())
         }
     }
 
@@ -683,8 +734,7 @@ mod tests {
     }
 
     fn builder_with_topics(pairs: &[(&str, &str)]) -> Builder {
-        let (publish_tx, _) = mpsc::channel(PUBLISH_CHANNEL_CAPACITY);
-        Builder::new(topics(pairs), publish_tx)
+        Builder::new(topics(pairs))
     }
 
     #[test]
@@ -715,7 +765,7 @@ mod tests {
 
     #[test]
     fn output_uses_mapped_topic() {
-        let builder = builder_with_topics(&[("cmd_vel", "/robot/cmd_vel")]);
+        let mut builder = builder_with_topics(&[("cmd_vel", "/robot/cmd_vel")]);
         let output = builder.output("cmd_vel", |b: &Vec<u8>| b.clone());
         assert_eq!(output.topic, "/robot/cmd_vel");
     }
@@ -723,9 +773,9 @@ mod tests {
     // recv/publish concurrency
 
     #[tokio::test(flavor = "multi_thread", worker_threads = 2)]
-    async fn slow_publish_does_not_block_recv() {
+    async fn slow_publish_does_not_block_dispatch() {
         let transport = ControllableMockTransport::new();
-        let recv_log = transport.recv_log.clone();
+        let dispatch_log = transport.dispatch_log.clone();
         let publish_log = transport.publish_log.clone();
         let inbound = transport.inbound.clone();
         let inbound_notify = transport.inbound_notify.clone();
@@ -735,48 +785,49 @@ mod tests {
         // set publishing to take 200ms
         publish_delay_ms.store(200, Ordering::Relaxed);
 
-        let (publish_tx, publish_rx) = mpsc::channel(PUBLISH_CHANNEL_CAPACITY);
-        let mut builder = Builder::new(topics(&[("data", "/data"), ("out", "/out")]), publish_tx);
+        let mut builder = Builder::new(topics(&[("data", "/data"), ("out", "/out")]));
         let _input = builder.input("data", |b| Ok(b.to_vec()));
         let output = builder.output("out", |b: &Vec<u8>| b.clone());
-        spawn_pubsub_tasks(transport, builder.routes, publish_rx);
+
+        subscribe_routes(&transport, builder.routes).await.unwrap();
+        let transport = Arc::new(transport);
+        let _pub_tasks = spawn_publish_tasks(Arc::clone(&transport), builder.outputs);
 
         // start the 200ms publish
         output.publish(&vec![0u8]).await.ok();
 
-        // ensure the publish starts getting handled before the receive
+        // ensure the publish starts getting handled before we deliver
         tokio::time::timeout(Duration::from_secs(1), publish_entered.notified())
             .await
-            .expect("dispatch task should pick up publish_rx within 1s");
+            .expect("publish task should pick up publish_rx within 1s");
 
         inject_inbound(&inbound, &inbound_notify, "/data", vec![42u8]);
 
-        wait_for("recv to fire and publish to complete", || {
-            !recv_log.lock().unwrap().is_empty() && !publish_log.lock().unwrap().is_empty()
+        wait_for("dispatch to fire and publish to complete", || {
+            !dispatch_log.lock().unwrap().is_empty() && !publish_log.lock().unwrap().is_empty()
         })
         .await;
 
-        let recv_time = recv_log.lock().unwrap()[0];
+        let dispatch_time = dispatch_log.lock().unwrap()[0];
         let publish_time = publish_log.lock().unwrap()[0];
         assert!(
-            recv_time < publish_time,
-            "expected recv to fire during the slow publish, not after it. \
-             The recv path should be independent of publish latency."
+            dispatch_time < publish_time,
+            "expected dispatch to fire during the slow publish, not after it. \
+             The receive path should be independent of publish latency."
         );
     }
 
     #[tokio::test(flavor = "multi_thread", worker_threads = 2)]
-    async fn slow_recv_dispatch_does_not_block_publish() {
+    async fn slow_dispatch_does_not_block_publish() {
         let transport = ControllableMockTransport::new();
         let publish_log = transport.publish_log.clone();
         let inbound = transport.inbound.clone();
         let inbound_notify = transport.inbound_notify.clone();
-        let recv_returned = transport.recv_returned.clone();
+        let dispatch_entered = transport.dispatch_entered.clone();
 
-        let (publish_tx, publish_rx) = mpsc::channel(PUBLISH_CHANNEL_CAPACITY);
-        let mut builder = Builder::new(topics(&[("slow", "/slow"), ("out", "/out")]), publish_tx);
+        let mut builder = Builder::new(topics(&[("slow", "/slow"), ("out", "/out")]));
 
-        // block the recv worker until the test releases it
+        // block the delivery loop in decode until the test releases it
         static RECV_RELEASE: AtomicBool = AtomicBool::new(false);
         RECV_RELEASE.store(false, Ordering::SeqCst);
         let _input = builder.input("slow", |b| {
@@ -787,20 +838,23 @@ mod tests {
             Ok(b.to_vec())
         });
         let output = builder.output("out", |b: &Vec<u8>| b.clone());
-        spawn_pubsub_tasks(transport, builder.routes, publish_rx);
 
-        // send a message to the receiving
+        subscribe_routes(&transport, builder.routes).await.unwrap();
+        let transport = Arc::new(transport);
+        let _pub_tasks = spawn_publish_tasks(Arc::clone(&transport), builder.outputs);
+
+        // send a message to the receiver
         inject_inbound(&inbound, &inbound_notify, "/slow", vec![1u8]);
 
-        // make sure the receive gets picked up before we publish
-        tokio::time::timeout(Duration::from_secs(1), recv_returned.notified())
+        // make sure dispatch begins and blocks in decode before we publish
+        tokio::time::timeout(Duration::from_secs(1), dispatch_entered.notified())
             .await
-            .expect("dispatch task should pick up inbound within 1s");
+            .expect("delivery loop should pick up inbound within 1s");
 
         output.publish(&vec![42u8]).await.ok();
 
-        // publish must complete while the recv worker stays blocked
-        wait_for("publish to complete while recv dispatch is blocked", || {
+        // publish must complete while the delivery loop stays blocked in decode
+        wait_for("publish to complete while dispatch is blocked", || {
             !publish_log.lock().unwrap().is_empty()
         })
         .await;
@@ -809,6 +863,50 @@ mod tests {
         RECV_RELEASE.store(true, Ordering::SeqCst);
     }
 
+    #[tokio::test(flavor = "multi_thread", worker_threads = 2)]
+    async fn blocked_channel_does_not_stall_other_channels() {
+        // Publish never returns on the block channel, other channels complete instantly.
+        struct HeadOfLineMock {
+            delivered: Arc<Mutex<Vec<String>>>,
+        }
+        impl crate::transport::Transport for HeadOfLineMock {
+            async fn publish(&self, channel: &str, _data: Vec<u8>) -> io::Result<()> {
+                if channel == "/block" {
+                    std::future::pending::<()>().await;
+                }
+                self.delivered.lock().unwrap().push(channel.to_string());
+                Ok(())
+            }
+            async fn subscribe(&self, _channel: &str, _on_msg: Dispatch) -> io::Result<()> {
+                Ok(())
+            }
+        }
+
+        let delivered = Arc::new(Mutex::new(Vec::new()));
+        let transport = Arc::new(HeadOfLineMock {
+            delivered: Arc::clone(&delivered),
+        });
+
+        let mut builder = Builder::new(topics(&[("block_out", "/block"), ("fast_out", "/fast")]));
+        let block_out = builder.output("block_out", |b: &Vec<u8>| b.clone());
+        let fast_out = builder.output("fast_out", |b: &Vec<u8>| b.clone());
+        let _pub_tasks = spawn_publish_tasks(Arc::clone(&transport), builder.outputs);
+
+        // Wedge the block channel, then publish on the fast channel.
+        block_out.publish(&vec![1u8]).await.unwrap();
+        fast_out.publish(&vec![2u8]).await.unwrap();
+
+        // The fast channel delivers even though its sibling is stuck in publish.
+        wait_for("fast channel delivery despite a blocked sibling", || {
+            delivered.lock().unwrap().iter().any(|c| c == "/fast")
+        })
+        .await;
+        assert!(
+            !delivered.lock().unwrap().iter().any(|c| c == "/block"),
+            "blocked channel must not have delivered"
+        );
+    }
+
     // propagate_task_failure
 
     #[tokio::test]
@@ -833,6 +931,47 @@ mod tests {
         propagate_task_failure("recv", Ok(()));
     }
 
+    // subscribe_routes panic isolation
+
+    struct PanicRoute;
+    impl Route for PanicRoute {
+        fn try_dispatch(&self, _data: &[u8]) {
+            panic!("handler blew up");
+        }
+    }
+
+    struct CountingRoute(Arc<AtomicU64>);
+    impl Route for CountingRoute {
+        fn try_dispatch(&self, _data: &[u8]) {
+            self.0.fetch_add(1, Ordering::SeqCst);
+        }
+    }
+
+    #[tokio::test(flavor = "multi_thread", worker_threads = 2)]
+    async fn panicking_route_does_not_starve_siblings_on_same_channel() {
+        let transport = ControllableMockTransport::new();
+        let inbound = transport.inbound.clone();
+        let inbound_notify = transport.inbound_notify.clone();
+
+        let delivered = Arc::new(AtomicU64::new(0));
+        let mut routes: HashMap<String, Vec<Box<dyn Route>>> = HashMap::new();
+        routes.insert(
+            "/data".to_string(),
+            vec![
+                Box::new(PanicRoute),
+                Box::new(CountingRoute(Arc::clone(&delivered))),
+            ],
+        );
+
+        subscribe_routes(&transport, routes).await.unwrap();
+        inject_inbound(&inbound, &inbound_notify, "/data", vec![7u8]);
+
+        wait_for("sibling route to receive despite the panic", || {
+            delivered.load(Ordering::SeqCst) == 1
+        })
+        .await;
+    }
+
     #[test]
     #[tracing_test::traced_test]
     fn typed_route_warns_and_counts_on_drop() {
diff --git a/native/rust/dimos-module/src/transport.rs b/native/rust/dimos-module/src/transport.rs
index 4327507a3c..0897e2baa2 100644
--- a/native/rust/dimos-module/src/transport.rs
+++ b/native/rust/dimos-module/src/transport.rs
@@ -14,6 +14,12 @@
 
 use std::future::Future;
 use std::io;
+use std::sync::Arc;
+
+/// Per-channel dispatch closure handed to a transport on `subscribe`. The
+/// transport calls it with each message's raw payload. Decode and routing
+/// happen inside it.
+pub type Dispatch = Arc<dyn Fn(&[u8]) + Send + Sync>;
 
 /// Abstraction over the message transport used by a native module.
 ///
@@ -21,7 +27,16 @@ use std::io;
 /// `NativeModule` is generic over any transport
 pub trait Transport: Send + Sync + 'static {
     /// Send `data` on `channel`.
-    fn publish(&self, channel: &str, data: &[u8]) -> impl Future<Output = io::Result<()>> + Send;
-    /// Block until the next inbound message, returning `(channel, data)`.
-    fn recv(&self) -> impl Future<Output = io::Result<(String, Vec<u8>)>> + Send;
+    fn publish(&self, channel: &str, data: Vec<u8>) -> impl Future<Output = io::Result<()>> + Send;
+    /// Deliver each message on `channel` to `on_msg`.
+    fn subscribe(
+        &self,
+        channel: &str,
+        on_msg: Dispatch,
+    ) -> impl Future<Output = io::Result<()>> + Send;
+
+    /// Apply the per-channel publisher QoS the coordinator sends. The value is
+    /// the `qos` object from the stdin config, or null when absent. Transports
+    /// without per-topic QoS ignore it.
+    fn set_publisher_qos(&self, _qos: &serde_json::Value) {}
 }
diff --git a/native/rust/dimos-module/src/zenoh.rs b/native/rust/dimos-module/src/zenoh.rs
new file mode 100644
index 0000000000..9ff5209793
--- /dev/null
+++ b/native/rust/dimos-module/src/zenoh.rs
@@ -0,0 +1,287 @@
+// Copyright 2026 Dimensional Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+use std::collections::HashMap;
+use std::io;
+use std::sync::{Arc, OnceLock};
+
+use ::zenoh::pubsub::Publisher;
+use ::zenoh::qos::{CongestionControl, Reliability};
+use ::zenoh::Session;
+use tokio::sync::Mutex;
+
+use crate::transport::{Dispatch, Transport};
+
+/// Publisher QoS for one channel. `None` fields keep zenoh's defaults.
+#[derive(Clone, Default)]
+struct ChannelQos {
+    reliability: Option<Reliability>,
+    congestion_control: Option<CongestionControl>,
+}
+
+/// Parse the coordinator's `qos` object (channel -> {reliability,
+/// congestion_control}) into a lookup. Unknown or absent fields keep defaults.
+fn parse_channel_qos(value: &serde_json::Value) -> HashMap<String, ChannelQos> {
+    let mut map = HashMap::new();
+    let Some(object) = value.as_object() else {
+        return map;
+    };
+    for (channel, entry) in object {
+        let mut qos = ChannelQos::default();
+        match entry.get("reliability").and_then(|v| v.as_str()) {
+            Some("reliable") => qos.reliability = Some(Reliability::Reliable),
+            Some("best_effort") => qos.reliability = Some(Reliability::BestEffort),
+            _ => {}
+        }
+        match entry.get("congestion_control").and_then(|v| v.as_str()) {
+            Some("drop") => qos.congestion_control = Some(CongestionControl::Drop),
+            Some("block") => qos.congestion_control = Some(CongestionControl::Block),
+            _ => {}
+        }
+        map.insert(channel.clone(), qos);
+    }
+    map
+}
+
+/// Zenoh transport for a native module.
+pub struct ZenohTransport {
+    session: Session,
+    qos: OnceLock<HashMap<String, ChannelQos>>,
+    publishers: Mutex<HashMap<String, Arc<Publisher<'static>>>>,
+}
+
+impl ZenohTransport {
+    pub async fn new() -> io::Result<Self> {
+        let session = ::zenoh::open(::zenoh::Config::default())
+            .await
+            .map_err(to_io)?;
+        Ok(Self {
+            session,
+            qos: OnceLock::new(),
+            publishers: Mutex::new(HashMap::new()),
+        })
+    }
+
+    async fn declare_publisher(&self, channel: &str) -> io::Result<Publisher<'static>> {
+        let qos = self
+            .qos
+            .get()
+            .and_then(|map| map.get(channel))
+            .cloned()
+            .unwrap_or_default();
+        let mut builder = self
+            .session
+            .declare_publisher(zenoh_key(channel).to_string());
+        if let Some(congestion_control) = qos.congestion_control {
+            builder = builder.congestion_control(congestion_control);
+        }
+        if let Some(reliability) = qos.reliability {
+            builder = builder.reliability(reliability);
+        }
+        builder.await.map_err(to_io)
+    }
+}
+
+impl Transport for ZenohTransport {
+    async fn publish(&self, channel: &str, data: Vec<u8>) -> io::Result<()> {
+        // Release the lock before `put` so a stalled channel can't block others.
+        let publisher = {
+            let mut publishers = self.publishers.lock().await;
+            match publishers.get(channel) {
+                Some(publisher) => Arc::clone(publisher),
+                None => {
+                    let publisher = Arc::new(self.declare_publisher(channel).await?);
+                    publishers.insert(channel.to_string(), Arc::clone(&publisher));
+                    publisher
+                }
+            }
+        };
+        publisher.put(data).await.map_err(to_io)
+    }
+
+    async fn subscribe(&self, channel: &str, on_msg: Dispatch) -> io::Result<()> {
+        self.session
+            .declare_subscriber(zenoh_key(channel).to_string())
+            .callback(move |sample| on_msg(&sample.payload().to_bytes()))
+            .background()
+            .await
+            .map_err(to_io)
+    }
+
+    fn set_publisher_qos(&self, qos: &serde_json::Value) {
+        let _ = self.qos.set(parse_channel_qos(qos));
+    }
+}
+
+fn to_io(e: ::zenoh::Error) -> io::Error {
+    io::Error::other(e)
+}
+
+/// Zenoh keys can't start with '/'
+fn zenoh_key(channel: &str) -> &str {
+    channel.strip_prefix('/').unwrap_or(channel)
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use std::sync::Arc;
+    use std::time::Duration;
+
+    #[tokio::test(flavor = "multi_thread", worker_threads = 2)]
+    async fn round_trip_delivers_payload() {
+        let transport = ZenohTransport::new().await.expect("open session");
+
+        let (tx, mut rx) = tokio::sync::mpsc::channel::<Vec<u8>>(8);
+        let sink: Dispatch = Arc::new(move |bytes: &[u8]| {
+            let _ = tx.try_send(bytes.to_vec());
+        });
+        // A leading '/' is an invalid Zenoh key, so keys are slash-free.
+        transport
+            .subscribe("dimos_test/round_trip", sink)
+            .await
+            .expect("subscribe");
+
+        let payload = b"hello zenoh";
+        // Publish until the subscriber sees it, to tolerate subscription setup latency.
+        let received = tokio::time::timeout(Duration::from_secs(10), async {
+            loop {
+                transport
+                    .publish("dimos_test/round_trip", payload.to_vec())
+                    .await
+                    .expect("publish");
+                if let Ok(Some(got)) =
+                    tokio::time::timeout(Duration::from_millis(100), rx.recv()).await
+                {
+                    break got;
+                }
+            }
+        })
+        .await
+        .expect("payload not delivered within timeout");
+
+        assert_eq!(received, payload);
+    }
+
+    #[test]
+    fn parse_channel_qos_reads_set_fields() {
+        let value = serde_json::json!({
+            "dimos/img/sensor_msgs.Image": {"reliability": "best_effort", "congestion_control": "drop"},
+            "dimos/agent": {"reliability": "reliable", "congestion_control": "block"},
+        });
+        let map = parse_channel_qos(&value);
+
+        let img = &map["dimos/img/sensor_msgs.Image"];
+        assert_eq!(img.reliability, Some(Reliability::BestEffort));
+        assert_eq!(img.congestion_control, Some(CongestionControl::Drop));
+
+        let agent = &map["dimos/agent"];
+        assert_eq!(agent.reliability, Some(Reliability::Reliable));
+        assert_eq!(agent.congestion_control, Some(CongestionControl::Block));
+    }
+
+    #[test]
+    fn parse_channel_qos_leaves_absent_and_unknown_as_default() {
+        let value = serde_json::json!({
+            "only_reliability": {"reliability": "reliable"},
+            "unknown_values": {"reliability": "sometimes", "congestion_control": "maybe"},
+        });
+        let map = parse_channel_qos(&value);
+
+        let partial = &map["only_reliability"];
+        assert_eq!(partial.reliability, Some(Reliability::Reliable));
+        assert_eq!(partial.congestion_control, None);
+
+        let unknown = &map["unknown_values"];
+        assert_eq!(unknown.reliability, None);
+        assert_eq!(unknown.congestion_control, None);
+    }
+
+    #[test]
+    fn parse_channel_qos_ignores_non_object() {
+        assert!(parse_channel_qos(&serde_json::Value::Null).is_empty());
+    }
+
+    #[test]
+    fn zenoh_key_strips_only_the_leading_slash_fallback() {
+        // Unmapped-port fallback `/{port}` is invalid as a Zenoh key; strip it.
+        assert_eq!(zenoh_key("/cmd_vel"), "cmd_vel");
+        // Mapped channels are already slash-free and pass through untouched.
+        assert_eq!(
+            zenoh_key("dimos/cmd_vel/geometry_msgs.Twist"),
+            "dimos/cmd_vel/geometry_msgs.Twist"
+        );
+    }
+
+    #[tokio::test(flavor = "multi_thread", worker_threads = 2)]
+    async fn declared_publisher_carries_configured_qos() {
+        // Verifies our plumbing: the QoS the coordinator sends lands on the
+        // zenoh publisher. Zenoh owns whether it then drops/blocks on the wire.
+        let transport = ZenohTransport::new().await.expect("open session");
+        transport.set_publisher_qos(&serde_json::json!({
+            "dimos_test/drop_chan": {"reliability": "best_effort", "congestion_control": "drop"},
+            "dimos_test/block_chan": {"reliability": "reliable", "congestion_control": "block"},
+        }));
+
+        let dropper = transport
+            .declare_publisher("dimos_test/drop_chan")
+            .await
+            .expect("declare drop publisher");
+        assert_eq!(dropper.congestion_control(), CongestionControl::Drop);
+        assert_eq!(dropper.reliability(), Reliability::BestEffort);
+
+        let blocker = transport
+            .declare_publisher("dimos_test/block_chan")
+            .await
+            .expect("declare block publisher");
+        assert_eq!(blocker.congestion_control(), CongestionControl::Block);
+        assert_eq!(blocker.reliability(), Reliability::Reliable);
+    }
+
+    #[tokio::test(flavor = "multi_thread", worker_threads = 2)]
+    async fn qos_channel_declares_publisher_and_delivers() {
+        let transport = ZenohTransport::new().await.expect("open session");
+        transport.set_publisher_qos(&serde_json::json!({
+            "dimos_test/qos_channel": {"reliability": "best_effort", "congestion_control": "drop"},
+        }));
+
+        let (tx, mut rx) = tokio::sync::mpsc::channel::<Vec<u8>>(8);
+        let sink: Dispatch = Arc::new(move |bytes: &[u8]| {
+            let _ = tx.try_send(bytes.to_vec());
+        });
+        transport
+            .subscribe("dimos_test/qos_channel", sink)
+            .await
+            .expect("subscribe");
+
+        let payload = b"qos payload";
+        let received = tokio::time::timeout(Duration::from_secs(10), async {
+            loop {
+                transport
+                    .publish("dimos_test/qos_channel", payload.to_vec())
+                    .await
+                    .expect("publish");
+                if let Ok(Some(got)) =
+                    tokio::time::timeout(Duration::from_millis(100), rx.recv()).await
+                {
+                    break got;
+                }
+            }
+        })
+        .await
+        .expect("payload not delivered within timeout");
+
+        assert_eq!(received, payload);
+    }
+}
diff --git a/pyproject.toml b/pyproject.toml
index 13eedd3d1d..0a5e6f8d57 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -651,5 +651,6 @@ max_size_kb = 75
 ignore = [
     "uv.lock",
     "*/package-lock.json",
+    "*/Cargo.lock",
     "dimos/web/dimos_interface/themes.json",
 ]