diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 581e882..05dc70e 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -49,6 +49,7 @@ jobs:
         run: |
           docker run -d --name nanomq -p 1883:1883 -p 8083:8083 -p 8883:8883 emqx/nanomq:latest
           docker run -d --name zenoh --init -p 7447:7447/tcp -p 8000:8000/tcp eclipse/zenoh
+          docker run -d --name rosbridge -p 9090:9090 husarion/rosbridge-server:humble ros2 launch rosbridge_server rosbridge_websocket_launch.xml
           docker ps -a
 
       - uses: compas-dev/compas-actions/ci@v1
@@ -65,7 +66,7 @@ jobs:
 
       - name: Stop test services
         if: always()
-        run: docker rm -f nanomq zenoh || true
+        run: docker rm -f nanomq zenoh rosbridge || true
 
   components:
     needs: release-change
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index b697a7d..1638170 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -48,6 +48,7 @@ jobs:
         run: |
           docker run -d --name nanomq -p 1883:1883 -p 8083:8083 -p 8883:8883 emqx/nanomq:latest
           docker run -d --name zenoh --init -p 7447:7447/tcp -p 8000:8000/tcp eclipse/zenoh
+          docker run -d --name rosbridge -p 9090:9090 husarion/rosbridge-server:humble ros2 launch rosbridge_server rosbridge_websocket_launch.xml
           docker ps -a
 
       - uses: compas-dev/compas-actions/ci@v1
@@ -64,7 +65,7 @@ jobs:
 
       - name: Stop test services
         if: always()
-        run: docker rm -f nanomq zenoh || true
+        run: docker rm -f nanomq zenoh rosbridge || true
 
   components:
     needs: release
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8d91565..2719cad 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* Added an optional ROS transport backed by `roslibpy` and rosbridge.
+
 ### Changed
 
 * Migrated CI, documentation, Grasshopper component generation, and releases to `compas-actions@v1` with trusted publishing and release pull requests.
diff --git a/README.md b/README.md
index c63299a..3c31179 100644
--- a/README.md
+++ b/README.md
@@ -44,6 +44,7 @@ Or using `conda`:
 * Publisher/subscriber communication model (N-to-N communication)
 * In-process events
 * MQTT support
+* ROS support through rosbridge
 * Zenoh support
 * Extensible codec system for message serialization (JSON, Protocol Buffers)
 
@@ -88,6 +89,34 @@ for i in range(10):
 This example shows how to send and receive from a single script, but
 running publishers and subscribers on different scripts, different processes, or even different computers will work the exact same way.
 
+### ROS
+
+The optional ROS backend uses native ROS message types through a rosbridge server:
+
+```bash
+pip install compas_eve[ros]
+```
+
+```python
+import time
+
+import compas_eve as eve
+from compas_eve.ros import RosTransport
+
+tx = RosTransport("localhost", 9090)
+topic = eve.Topic("/chatter", "std_msgs/String", queue_size=10)
+
+sub = eve.EchoSubscriber(topic, transport=tx)
+sub.subscribe()
+eve.Publisher(topic, transport=tx).publish({"data": "Hello ROS"})
+time.sleep(1)
+tx.close()
+```
+
+ROS messages are passed as JSON-compatible dictionaries. Topic options supported
+by `roslibpy`—including `compression`, `latch`, `throttle_rate`, `queue_size`,
+`queue_length`, and `reconnect_on_close`—can be set on `eve.Topic`.
+
 ### Zenoh
 
 Apache Zenoh is a pub/sub/query protocol. In many ways, it is similar to MQTT but with some additional features and optimizations. COMPAS EVE also supports Zenoh as a transport protocol with an identical API to MQTT:
diff --git a/docs/api/compas_eve.ros.md b/docs/api/compas_eve.ros.md
new file mode 100644
index 0000000..9242104
--- /dev/null
+++ b/docs/api/compas_eve.ros.md
@@ -0,0 +1 @@
+# ::: compas_eve.ros
diff --git a/docs/examples.md b/docs/examples.md
index 461f913..9f7fac4 100644
--- a/docs/examples.md
+++ b/docs/examples.md
@@ -119,3 +119,26 @@ Next, we create the matching subscriber:
 ```python
 --8<-- "docs/examples/05_zenoh_distributed_world_sub.py"
 ```
+
+## Communication with ROS
+
+The ROS transport connects to a rosbridge server and works with native ROS
+message types. ROS messages are represented as JSON-compatible dictionaries.
+
+```python
+--8<-- "docs/examples/06_ros_pubsub.py"
+```
+
+The message dictionary is mapped directly to the fields of the declared ROS
+message type. It is not serialized into a string field. For example, the next
+example publishes a native `sensor_msgs/JointState` containing a nested ROS
+header and arrays for three joints. The subscriber receives the same structured
+fields as a dictionary:
+
+```python
+--8<-- "docs/examples/07_ros_joint_state.py"
+```
+
+Because rosbridge handles this as `sensor_msgs/JointState`, regular ROS nodes can
+subscribe to `/compas_eve/joint_states` and access `name`, `position`,
+`velocity`, and `effort` as normal ROS message fields.
diff --git a/docs/examples/06_ros_pubsub.py b/docs/examples/06_ros_pubsub.py
new file mode 100644
index 0000000..0c2290f
--- /dev/null
+++ b/docs/examples/06_ros_pubsub.py
@@ -0,0 +1,18 @@
+import time
+
+from compas_eve import EchoSubscriber
+from compas_eve import Publisher
+from compas_eve import Topic
+from compas_eve.ros import RosTransport
+
+transport = RosTransport("localhost", 9090)
+topic = Topic("/chatter", "std_msgs/String", queue_size=10)
+
+subscriber = EchoSubscriber(topic, transport=transport)
+subscriber.subscribe()
+
+publisher = Publisher(topic, transport=transport)
+publisher.publish({"data": "Hello ROS"})
+
+time.sleep(1)
+transport.close()
diff --git a/docs/examples/07_ros_joint_state.py b/docs/examples/07_ros_joint_state.py
new file mode 100644
index 0000000..c58a890
--- /dev/null
+++ b/docs/examples/07_ros_joint_state.py
@@ -0,0 +1,44 @@
+import time
+from threading import Event
+
+from compas_eve import Publisher
+from compas_eve import Subscriber
+from compas_eve import Topic
+from compas_eve.ros import RosTransport
+
+transport = RosTransport("localhost", 9090)
+topic = Topic("/compas_eve/joint_states", "sensor_msgs/JointState", queue_size=10)
+message_received = Event()
+
+
+def print_joint_state(message):
+    print("Frame:", message["header"]["frame_id"])
+    for name, position, velocity in zip(message["name"], message["position"], message["velocity"]):
+        print("{}: position={}, velocity={}".format(name, position, velocity))
+    message_received.set()
+
+
+subscriber = Subscriber(topic, print_joint_state, transport=transport)
+subscriber.subscribe()
+time.sleep(0.5)  # Allow rosbridge to register the subscription.
+
+publisher = Publisher(topic, transport=transport)
+publisher.publish(
+    {
+        "header": {
+            "stamp": {"sec": 0, "nanosec": 0},
+            "frame_id": "robot_base",
+        },
+        "name": ["shoulder_joint", "elbow_joint", "wrist_joint"],
+        "position": [0.25, -0.5, 1.2],
+        "velocity": [0.1, 0.0, -0.1],
+        "effort": [4.2, 2.8, 0.7],
+    }
+)
+
+if not message_received.wait(timeout=5):
+    raise RuntimeError("No joint state received")
+
+subscriber.unsubscribe()
+publisher.unadvertise()
+transport.close()
diff --git a/docs/installation.md b/docs/installation.md
index d58ae46..9a8b2fd 100644
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -95,3 +95,14 @@ uv pip install compas_eve[zenoh]
 ```
 
 For more details about Zenoh, refer to the [Eclipse Zenoh](https://zenoh.io/) website.
+
+### ROS Transport
+
+The ROS transport requires `roslibpy` 2.x and a running rosbridge server. Install
+the optional dependency with:
+
+```bash
+uv pip install compas_eve[ros]
+```
+
+The transport connects to rosbridge over WebSockets on port `9090` by default.
diff --git a/mkdocs.yml b/mkdocs.yml
index 688df3d..803d829 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -140,6 +140,7 @@ nav:
       - compas_eve.codecs: api/compas_eve.codecs.md
       - compas_eve.memory: api/compas_eve.memory.md
       - compas_eve.mqtt: api/compas_eve.mqtt.md
+      - compas_eve.ros: api/compas_eve.ros.md
       - compas_eve.zenoh: api/compas_eve.zenoh.md
       - compas_eve.ghpython: api/compas_eve.ghpython.md
-  - License: license.md
\ No newline at end of file
+  - License: license.md
diff --git a/pyproject.toml b/pyproject.toml
index de355a0..abf7a3b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -37,7 +37,7 @@ classifiers = [
 [tool.setuptools.dynamic]
 version = { attr = "compas_eve.__version__" }
 dependencies = { file = "requirements.txt" }
-optional-dependencies = { dev = { file = "requirements-dev.txt" }, zenoh = { file = "requirements-zenoh.txt" } }
+optional-dependencies = { dev = { file = "requirements-dev.txt" }, ros = { file = "requirements-ros.txt" }, zenoh = { file = "requirements-zenoh.txt" } }
 
 [project.entry-points.'compas_pb.plugins']
 serializers = 'compas_eve.codecs.conversions'
diff --git a/requirements-ros.txt b/requirements-ros.txt
new file mode 100644
index 0000000..7b542a3
--- /dev/null
+++ b/requirements-ros.txt
@@ -0,0 +1 @@
+roslibpy >=2, <3
diff --git a/src/compas_eve/core.py b/src/compas_eve/core.py
index 2098201..6c1f2e7 100644
--- a/src/compas_eve/core.py
+++ b/src/compas_eve/core.py
@@ -125,16 +125,16 @@ class Topic(object):
     name
         Name of the topic.
     message_type
-        Class defining the message structure. Use [Message][] for
-        a generic, non-typed checked message implementation.
-        Defaults to [Message][].
+        Class defining the message structure, or a backend-native message type
+        identifier. Use [Message][] for a generic, non-type-checked message
+        implementation. Defaults to [Message][].
     options
         A dictionary of options.
     """
 
     # TODO: Add documentation/examples of possible options
 
-    def __init__(self, name: str, message_type: Optional[Type[Message]] = None, **options: Any) -> None:
+    def __init__(self, name: str, message_type: Optional[Union[Type[Message], str]] = None, **options: Any) -> None:
         self.name = name
         self.message_type = message_type or Message
         self.options = options
diff --git a/src/compas_eve/ros/__init__.py b/src/compas_eve/ros/__init__.py
new file mode 100644
index 0000000..2cf3cd0
--- /dev/null
+++ b/src/compas_eve/ros/__init__.py
@@ -0,0 +1,3 @@
+from .ros_transport import RosTransport
+
+__all__ = ["RosTransport"]
diff --git a/src/compas_eve/ros/ros_transport.py b/src/compas_eve/ros/ros_transport.py
new file mode 100644
index 0000000..04a76f1
--- /dev/null
+++ b/src/compas_eve/ros/ros_transport.py
@@ -0,0 +1,184 @@
+from typing import Any
+from typing import Callable
+from typing import Dict
+from typing import Tuple
+from typing import Union
+
+import roslibpy
+
+from ..core import Message
+from ..core import Topic
+from ..core import Transport
+
+
+class RosTransport(Transport):
+    """ROS transport backed by a rosbridge WebSocket connection.
+
+    Messages use native ROS message types and are represented as JSON-compatible
+    dictionaries, matching the behavior of [roslibpy](https://roslibpy.readthedocs.io/).
+
+    Parameters
+    ----------
+    host
+        Host name of the rosbridge server.
+    port
+        WebSocket port of the rosbridge server. Defaults to ``9090``.
+    connect_timeout
+        Maximum number of seconds to wait for the initial connection.
+    **client_options
+        Additional options passed to ``roslibpy.Ros``.
+
+    Notes
+    -----
+    The topic's ``message_type`` must be a ROS message type string, such as
+    ``"std_msgs/String"``. ROS topic options can be passed to [Topic][]:
+    ``compression``, ``latch``, ``throttle_rate``, ``queue_size``,
+    ``queue_length``, and ``reconnect_on_close``.
+    """
+
+    _TOPIC_OPTION_DEFAULTS = {
+        "compression": None,
+        "latch": False,
+        "throttle_rate": 0,
+        "queue_size": 100,
+        "queue_length": 0,
+        "reconnect_on_close": True,
+    }
+
+    def __init__(self, host: str = "localhost", port: int = 9090, connect_timeout: float = 10, **client_options: Any) -> None:
+        super(RosTransport, self).__init__()
+        self.host = host
+        self.port = port
+        self.client = roslibpy.Ros(host=host, port=port, **client_options)
+        self._publishers: Dict[str, roslibpy.Topic] = {}
+        self._subscribers: Dict[str, roslibpy.Topic] = {}
+        self._topic_configs: Dict[str, Tuple[Any, ...]] = {}
+        self._subscriptions: Dict[str, Dict[str, Callable]] = {}
+        self._subscription_handlers: Dict[str, Callable] = {}
+        self._local_callbacks: Dict[str, Tuple[str, Callable]] = {}
+        self._advertised_topics = set()
+        self.client.run(timeout=connect_timeout)
+
+    def _topic_config(self, topic: Topic) -> Tuple[str, Dict[str, Any], Tuple[Any, ...]]:
+        if not isinstance(topic.message_type, str):
+            raise TypeError("RosTransport topics require a ROS message type string, e.g. Topic('/chatter', 'std_msgs/String')")
+
+        unknown_options = set(topic.options) - set(self._TOPIC_OPTION_DEFAULTS)
+        if unknown_options:
+            raise TypeError("Unsupported ROS topic options: {}".format(", ".join(sorted(unknown_options))))
+
+        options = dict(self._TOPIC_OPTION_DEFAULTS)
+        options.update(topic.options)
+        config_key = (topic.message_type,) + tuple(options[name] for name in self._TOPIC_OPTION_DEFAULTS)
+        return topic.message_type, options, config_key
+
+    def _get_topic(self, topic: Topic, topics: Dict[str, roslibpy.Topic]) -> roslibpy.Topic:
+        message_type, options, config_key = self._topic_config(topic)
+        existing_config = self._topic_configs.get(topic.name)
+        if existing_config is not None and existing_config != config_key:
+            raise ValueError("ROS topic {!r} is already configured with different message type or options".format(topic.name))
+
+        existing = topics.get(topic.name)
+        if existing is not None:
+            return existing
+
+        ros_topic = roslibpy.Topic(self.client, topic.name, message_type, **options)
+        topics[topic.name] = ros_topic
+        self._topic_configs[topic.name] = config_key
+        return ros_topic
+
+    def on_ready(self, callback: Callable) -> None:
+        """Invoke a callback when the rosbridge connection is ready."""
+        self.client.on_ready(callback)
+
+    def publish(self, topic: Topic, message: Union[Message, dict], **options: Any) -> None:
+        """Publish a native ROS message dictionary to a topic."""
+        if options:
+            raise TypeError("publish() got unexpected options for RosTransport: {}".format(", ".join(options)))
+
+        if isinstance(message, Message):
+            values = message.data
+        elif isinstance(message, dict):
+            values = message
+        else:
+            raise TypeError("RosTransport messages must be dictionaries or compas_eve.Message instances")
+
+        self._get_topic(topic, self._publishers).publish(roslibpy.Message(values))
+
+    def subscribe(self, topic: Topic, callback: Callable) -> str:
+        """Subscribe to a native ROS topic."""
+        ros_topic = self._get_topic(topic, self._subscribers)
+        subscribe_id = "subscribe:{}:{}".format(topic.name, self.id_counter)
+        callbacks = self._subscriptions.get(topic.name)
+
+        if callbacks is None:
+            callbacks = {subscribe_id: callback}
+
+            def _ros_callback(message: Dict[str, Any]) -> None:
+                for local_callback in list(callbacks.values()):
+                    local_callback(message)
+
+            self._subscriptions[topic.name] = callbacks
+            self._subscription_handlers[topic.name] = _ros_callback
+            self._local_callbacks[subscribe_id] = (topic.name, callback)
+            try:
+                ros_topic.subscribe(_ros_callback)
+            except Exception:
+                del self._subscriptions[topic.name]
+                del self._subscription_handlers[topic.name]
+                del self._local_callbacks[subscribe_id]
+                raise
+        else:
+            callbacks[subscribe_id] = callback
+            self._local_callbacks[subscribe_id] = (topic.name, callback)
+        return subscribe_id
+
+    def unsubscribe_by_id(self, subscribe_id: str) -> None:
+        """Unsubscribe one callback using its subscription identifier."""
+        if subscribe_id not in self._local_callbacks:
+            return
+
+        topic_name, _callback = self._local_callbacks.pop(subscribe_id)
+        callbacks = self._subscriptions[topic_name]
+        del callbacks[subscribe_id]
+
+        if not callbacks:
+            self._subscribers[topic_name].unsubscribe()
+            del self._subscriptions[topic_name]
+            del self._subscription_handlers[topic_name]
+
+    def unsubscribe(self, topic: Topic) -> None:
+        """Unsubscribe all local callbacks from a topic."""
+        callbacks = self._subscriptions.pop(topic.name, None)
+        if callbacks is None:
+            return
+
+        self._subscribers[topic.name].unsubscribe()
+        self._subscription_handlers.pop(topic.name, None)
+        for subscribe_id in list(callbacks):
+            self._local_callbacks.pop(subscribe_id, None)
+
+    def advertise(self, topic: Topic) -> str:
+        """Advertise a native ROS topic."""
+        self._get_topic(topic, self._publishers).advertise()
+        self._advertised_topics.add(topic.name)
+        return "advertise:{}:{}".format(topic.name, self.id_counter)
+
+    def unadvertise(self, topic: Topic) -> None:
+        """Stop advertising a native ROS topic."""
+        if topic.name not in self._advertised_topics:
+            return
+        self._publishers[topic.name].unadvertise()
+        self._advertised_topics.remove(topic.name)
+
+    def close(self) -> None:
+        """Close all topics and terminate the rosbridge client."""
+        for topic_name in list(self._subscriptions):
+            self._subscribers[topic_name].unsubscribe()
+        for topic_name in list(self._advertised_topics):
+            self._publishers[topic_name].unadvertise()
+        self._subscriptions.clear()
+        self._subscription_handlers.clear()
+        self._local_callbacks.clear()
+        self._advertised_topics.clear()
+        self.client.terminate()
diff --git a/tests/integration/requirements.txt b/tests/integration/requirements.txt
index 387ac68..4da3491 100644
--- a/tests/integration/requirements.txt
+++ b/tests/integration/requirements.txt
@@ -1,2 +1,3 @@
 compas_pb >= 0.4.4
-eclipse-zenoh
\ No newline at end of file
+eclipse-zenoh
+roslibpy >=2, <3
diff --git a/tests/integration/test_transports.py b/tests/integration/test_transports.py
index 1b5fb0c..5fa123d 100644
--- a/tests/integration/test_transports.py
+++ b/tests/integration/test_transports.py
@@ -1,3 +1,4 @@
+import os
 import time
 from threading import Event
 
@@ -17,7 +18,14 @@
 except ImportError:
     ZenohTransport = None
 
+try:
+    from compas_eve.ros import RosTransport
+except ImportError:
+    RosTransport = None
+
 HOST = "localhost"
+ROS_HOST = os.getenv("ROS_HOST", HOST)
+ROS_PORT = int(os.getenv("ROS_PORT", "9090"))
 
 
 @pytest.fixture
@@ -253,3 +261,36 @@ def test_mqtt_unknown_option_raises(mqtt_tx):
     topic = Topic("/messages_compas_eve_test/test_bad_option/", Message)
     with pytest.raises(TypeError):
         Publisher(topic, transport=mqtt_tx).publish(Message(value=1), unknown_flag=True)
+
+
+def test_ros_pubsub():
+    if RosTransport is None:
+        pytest.skip("roslibpy not installed")
+
+    transport = RosTransport(ROS_HOST, ROS_PORT, connect_timeout=30)
+    event = Event()
+    result = {}
+    topic = Topic(
+        "/messages_compas_eve_test/test_ros_pubsub",
+        "std_msgs/String",
+        compression="none",
+        latch=False,
+        throttle_rate=0,
+        queue_size=10,
+        queue_length=1,
+        reconnect_on_close=True,
+    )
+
+    def callback(message):
+        result.update(message)
+        event.set()
+
+    try:
+        Subscriber(topic, callback, transport=transport).subscribe()
+        time.sleep(0.5)
+        Publisher(topic, transport=transport).publish({"data": "Hello from COMPAS EVE"})
+
+        assert event.wait(timeout=5), "ROS message not received"
+        assert result == {"data": "Hello from COMPAS EVE"}
+    finally:
+        transport.close()
diff --git a/tests/unit/test_ros_transport.py b/tests/unit/test_ros_transport.py
new file mode 100644
index 0000000..9cab4cb
--- /dev/null
+++ b/tests/unit/test_ros_transport.py
@@ -0,0 +1,166 @@
+import importlib
+import sys
+import types
+
+import pytest
+
+from compas_eve import Message
+from compas_eve import Publisher
+from compas_eve import Subscriber
+from compas_eve import Topic
+
+
+class FakeRos:
+    def __init__(self, host, port, **options):
+        self.host = host
+        self.port = port
+        self.options = options
+        self.run_timeout = None
+        self.terminated = False
+
+    def run(self, timeout):
+        self.run_timeout = timeout
+
+    def on_ready(self, callback):
+        callback()
+
+    def terminate(self):
+        self.terminated = True
+
+
+class FakeRosMessage(dict):
+    pass
+
+
+class FakeRosTopic:
+    def __init__(self, client, name, message_type, **options):
+        self.client = client
+        self.name = name
+        self.message_type = message_type
+        self.options = options
+        self.messages = []
+        self.callback = None
+        self.is_advertised = False
+        self.unsubscribe_count = 0
+
+    def advertise(self):
+        self.is_advertised = True
+
+    def unadvertise(self):
+        self.is_advertised = False
+
+    def publish(self, message):
+        self.messages.append(message)
+
+    def subscribe(self, callback):
+        self.callback = callback
+
+    def unsubscribe(self):
+        self.unsubscribe_count += 1
+        self.callback = None
+
+    def receive(self, message):
+        self.callback(message)
+
+
+@pytest.fixture
+def RosTransport(monkeypatch):
+    fake_roslibpy = types.ModuleType("roslibpy")
+    fake_roslibpy.Ros = FakeRos
+    fake_roslibpy.Message = FakeRosMessage
+    fake_roslibpy.Topic = FakeRosTopic
+    monkeypatch.setitem(sys.modules, "roslibpy", fake_roslibpy)
+    sys.modules.pop("compas_eve.ros", None)
+    sys.modules.pop("compas_eve.ros.ros_transport", None)
+    module = importlib.import_module("compas_eve.ros")
+    yield module.RosTransport
+    sys.modules.pop("compas_eve.ros", None)
+    sys.modules.pop("compas_eve.ros.ros_transport", None)
+
+
+def test_constructor_connects_to_rosbridge(RosTransport):
+    transport = RosTransport("robot.local", 9091, connect_timeout=4, is_secure=True)
+
+    assert transport.client.host == "robot.local"
+    assert transport.client.port == 9091
+    assert transport.client.options == {"is_secure": True}
+    assert transport.client.run_timeout == 4
+
+
+def test_publish_uses_native_ros_type_and_topic_options(RosTransport):
+    transport = RosTransport()
+    topic = Topic(
+        "/chatter",
+        "std_msgs/String",
+        compression="none",
+        latch=True,
+        throttle_rate=20,
+        queue_size=5,
+        queue_length=2,
+        reconnect_on_close=False,
+    )
+
+    Publisher(topic, transport=transport).publish(Message(data="hello"))
+
+    ros_topic = transport._publishers[topic.name]
+    assert ros_topic.message_type == "std_msgs/String"
+    assert ros_topic.options == {
+        "compression": "none",
+        "latch": True,
+        "throttle_rate": 20,
+        "queue_size": 5,
+        "queue_length": 2,
+        "reconnect_on_close": False,
+    }
+    assert ros_topic.is_advertised
+    assert ros_topic.messages == [{"data": "hello"}]
+
+
+def test_multiple_local_subscribers_share_ros_subscription(RosTransport):
+    transport = RosTransport()
+    topic = Topic("/chatter", "std_msgs/String")
+    received_a = []
+    received_b = []
+    subscriber_a = Subscriber(topic, received_a.append, transport=transport)
+    subscriber_b = Subscriber(topic, received_b.append, transport=transport)
+
+    subscriber_a.subscribe()
+    subscriber_b.subscribe()
+    ros_topic = transport._subscribers[topic.name]
+    ros_topic.receive({"data": "first"})
+    subscriber_a.unsubscribe()
+    ros_topic.receive({"data": "second"})
+
+    assert received_a == [{"data": "first"}]
+    assert received_b == [{"data": "first"}, {"data": "second"}]
+    assert ros_topic.unsubscribe_count == 0
+
+    subscriber_b.unsubscribe()
+    assert ros_topic.unsubscribe_count == 1
+
+
+def test_ros_topic_requires_native_message_type(RosTransport):
+    transport = RosTransport()
+
+    with pytest.raises(TypeError, match="ROS message type string"):
+        transport.advertise(Topic("/chatter"))
+
+
+def test_ros_topic_rejects_unknown_options(RosTransport):
+    transport = RosTransport()
+
+    with pytest.raises(TypeError, match="unknown"):
+        transport.advertise(Topic("/chatter", "std_msgs/String", unknown=True))
+
+
+def test_close_cleans_up_topics_and_client(RosTransport):
+    transport = RosTransport()
+    topic = Topic("/chatter", "std_msgs/String")
+    Publisher(topic, transport=transport).advertise()
+    Subscriber(topic, lambda message: None, transport=transport).subscribe()
+
+    transport.close()
+
+    assert not transport._publishers[topic.name].is_advertised
+    assert transport._subscribers[topic.name].unsubscribe_count == 1
+    assert transport.client.terminated
diff --git a/uv.lock b/uv.lock
index 8bd6979..ea88b1b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2,10 +2,13 @@ version = 1
 revision = 3
 requires-python = ">=3.9"
 resolution-markers = [
-    "python_full_version >= '3.12'",
-    "python_full_version == '3.11.*'",
+    "python_full_version >= '3.12' and platform_python_implementation == 'PyPy' and sys_platform == 'win32'",
+    "(python_full_version >= '3.12' and platform_python_implementation != 'PyPy') or (python_full_version >= '3.12' and sys_platform != 'win32')",
+    "python_full_version == '3.11.*' and platform_python_implementation == 'PyPy' and sys_platform == 'win32'",
+    "(python_full_version == '3.11.*' and platform_python_implementation != 'PyPy') or (python_full_version == '3.11.*' and sys_platform != 'win32')",
     "python_full_version == '3.10.*'",
-    "python_full_version < '3.10'",
+    "python_full_version >= '3.9.12' and python_full_version < '3.10'",
+    "python_full_version < '3.9.12'",
 ]
 
 [[package]]
@@ -40,6 +43,91 @@ wheels = [
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 ]
 
+[[package]]
+name = "autobahn"
+version = "24.4.2"
+source = { registry = "https://pypi.org/simple" }
+resolution-markers = [
+    "python_full_version == '3.10.*'",
+    "python_full_version >= '3.9.12' and python_full_version < '3.10'",
+    "python_full_version < '3.9.12'",
+]
+dependencies = [
+    { name = "cryptography", marker = "python_full_version < '3.11'" },
+    { name = "hyperlink", marker = "python_full_version < '3.11'" },
+    { name = "setuptools", marker = "python_full_version < '3.11'" },
+    { name = "txaio", version = "23.6.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.10'" },
+    { name = "txaio", version = "25.9.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.10.*'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/38/f2/8dffb3b709383ba5b47628b0cc4e43e8d12d59eecbddb62cfccac2e7cf6a/autobahn-24.4.2.tar.gz", hash = "sha256:a2d71ef1b0cf780b6d11f8b205fd2c7749765e65795f2ea7d823796642ee92c9", size = 482700, upload-time = "2024-08-02T09:26:48.241Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/13/ee/a6475f39ef6c6f41c33da6b193e0ffd2c6048f52e1698be6253c59301b72/autobahn-24.4.2-py2.py3-none-any.whl", hash = "sha256:c56a2abe7ac78abbfb778c02892d673a4de58fd004d088cd7ab297db25918e81", size = 666965, upload-time = "2024-08-02T09:26:44.274Z" },
+]
+
+[[package]]
+name = "autobahn"
+version = "26.7.1"
+source = { registry = "https://pypi.org/simple" }
+resolution-markers = [
+    "python_full_version >= '3.12' and platform_python_implementation == 'PyPy' and sys_platform == 'win32'",
+    "(python_full_version >= '3.12' and platform_python_implementation != 'PyPy') or (python_full_version >= '3.12' and sys_platform != 'win32')",
+    "python_full_version == '3.11.*' and platform_python_implementation == 'PyPy' and sys_platform == 'win32'",
+    "(python_full_version == '3.11.*' and platform_python_implementation != 'PyPy') or (python_full_version == '3.11.*' and sys_platform != 'win32')",
+]
+dependencies = [
+    { name = "cbor2", marker = "python_full_version >= '3.11'" },
+    { name = "cffi", marker = "python_full_version >= '3.11'" },
+    { name = "cryptography", marker = "python_full_version >= '3.11'" },
+    { name = "hyperlink", marker = "python_full_version >= '3.11'" },
+    { name = "msgpack", marker = "python_full_version >= '3.11' and platform_python_implementation == 'CPython'" },
+    { name = "txaio", version = "26.6.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
+    { name = "u-msgpack-python", marker = "python_full_version >= '3.11' and platform_python_implementation != 'CPython'" },
+    { name = "ujson", marker = "python_full_version >= '3.11'" },
+]
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+
+[[package]]
+name = "automat"
+version = "25.4.16"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "typing-extensions", marker = "python_full_version < '3.10'" },
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+
 [[package]]
 name = "babel"
 version = "2.18.0"
@@ -63,7 +151,8 @@ name = "backrefs"
 version = "6.2"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version < '3.10'",
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@@ -80,8 +169,10 @@ name = "backrefs"
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 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version >= '3.12'",
-    "python_full_version == '3.11.*'",
+    "python_full_version >= '3.12' and platform_python_implementation == 'PyPy' and sys_platform == 'win32'",
+    "(python_full_version >= '3.12' and platform_python_implementation != 'PyPy') or (python_full_version >= '3.12' and sys_platform != 'win32')",
+    "python_full_version == '3.11.*' and platform_python_implementation == 'PyPy' and sys_platform == 'win32'",
+    "(python_full_version == '3.11.*' and platform_python_implementation != 'PyPy') or (python_full_version == '3.11.*' and sys_platform != 'win32')",
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@@ -111,7 +202,8 @@ name = "black"
 version = "25.11.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version < '3.10'",
+    "python_full_version >= '3.9.12' and python_full_version < '3.10'",
+    "python_full_version < '3.9.12'",
 ]
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@@ -157,8 +249,10 @@ name = "black"
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 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
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-    "python_full_version == '3.11.*'",
+    "python_full_version >= '3.12' and platform_python_implementation == 'PyPy' and sys_platform == 'win32'",
+    "(python_full_version >= '3.12' and platform_python_implementation != 'PyPy') or (python_full_version >= '3.12' and sys_platform != 'win32')",
+    "python_full_version == '3.11.*' and platform_python_implementation == 'PyPy' and sys_platform == 'win32'",
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     "python_full_version == '3.10.*'",
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+source = { registry = "https://pypi.org/simple" }
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 version = "8.7.1"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
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 resolution-markers = [
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 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
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 resolution-markers = [
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 resolution-markers = [
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-    "python_full_version == '3.11.*'",
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 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version < '3.10'",
+    "python_full_version >= '3.9.12' and python_full_version < '3.10'",
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 resolution-markers = [
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-    "python_full_version == '3.11.*'",
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 resolution-markers = [
-    "python_full_version < '3.10'",
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