diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 2cf19ed..81b5b07 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -52,3 +52,20 @@ jobs:
 
       - name: Test
         run: pixi run cargo test --lib -p bubbaloop
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Python SDK — lint
+        run: |
+          cd python-sdk
+          pip install -e ".[dev]" -q
+          python -m ruff format --check bubbaloop_sdk/ tests/
+          python -m ruff check bubbaloop_sdk/ tests/
+
+      - name: Python SDK — test
+        run: |
+          cd python-sdk
+          python -m pytest tests/ -v
diff --git a/.markdownlint.json b/.markdownlint.json
new file mode 100644
index 0000000..c44ef7c
--- /dev/null
+++ b/.markdownlint.json
@@ -0,0 +1,4 @@
+{
+  "MD013": false,
+  "MD060": false
+}
diff --git a/python-sdk/CLAUDE.md b/python-sdk/CLAUDE.md
new file mode 100644
index 0000000..8a892ee
--- /dev/null
+++ b/python-sdk/CLAUDE.md
@@ -0,0 +1,159 @@
+# bubbaloop-sdk (Python)
+
+Pure Python wrapper over `zenoh-python`. Synchronous API — no asyncio required.
+Mirrors the Rust `bubbaloop-node` SDK surface; nodes written with either SDK are interoperable.
+
+## Structure
+
+```
+python-sdk/
+  bubbaloop_sdk/
+    __init__.py       # Public API — edit when adding new public names
+    context.py        # NodeContext: connect(), topic(), publishers, subscribers, queryables
+    publisher.py      # JsonPublisher, ProtoPublisher (wraps session.declare_publisher)
+    subscriber.py     # ProtoSubscriber, RawSubscriber, CallbackSubscriber, RawCallbackSubscriber, Queryable
+    node.py           # run_node() — CLI arg parsing + health heartbeat + lifecycle
+    health.py         # start_health_heartbeat() — publishes 'ok' every 5s
+    discover.py       # discover_nodes() — GET bubbaloop/**/health
+    get_sample.py     # get_sample() — one-shot async subscribe-and-wait
+    decode_sample.py  # ProtoDecoder — decode zenoh.Sample to protobuf
+  tests/
+    test_context.py   # 71 unit tests — NO real Zenoh session needed
+  pyproject.toml      # Build config, deps, ruff/pytest/coverage
+  pixi.toml           # Dev tasks: test, lint, fmt, check
+```
+
+## Build & verify
+
+```bash
+# With pixi (recommended)
+cd python-sdk
+pixi run check       # fmt-check + lint (run before every commit)
+pixi run test        # 71 unit tests
+pixi run test-cov    # tests + coverage report
+
+# With venv (alternative)
+cd python-sdk
+.venv/bin/python -m ruff check bubbaloop_sdk/ tests/
+.venv/bin/python -m pytest tests/ -v
+```
+
+## Conventions — MUST follow
+
+**Tooling:**
+- `ruff` for lint + format — NOT flake8, black, or isort directly
+- Config in `pyproject.toml` under `[tool.ruff]` — do NOT add `.flake8` or `setup.cfg`
+- Line length: 120 characters
+- `TYPE_CHECKING` guard for cross-module type annotations — NEVER string-quoted forward refs (`"Foo"`)
+
+**Type annotations:**
+
+- Use modern Python 3.11+ union syntax: `X | Y` and `X | None` — NOT `Union[X, Y]` or `Optional[X]`
+- Annotate all public method parameters and return types
+- Annotate class attributes and instance variables when the type is not obvious from the assignment
+- When fixing type errors, follow this hierarchy:
+  1. Add proper type annotations
+  2. Use `X | Y` union syntax or `cast()` from `typing`
+  3. Use `TYPE_CHECKING` for circular imports
+  4. Last resort: `# type: ignore[<error-code>]` with a comment explaining why
+- AVOID `# type: ignore` without an error code — always be specific
+
+**Docstrings:**
+- Google docstring style for all public modules, classes, and functions
+- Do NOT add a docstring to `__init__()` — document instantiation at the class level instead
+- Include `Args:`, `Returns:`, and `Raises:` sections when applicable
+
+```python
+class CallbackSubscriber:
+    """Event-driven subscriber that calls a handler on each received message.
+
+    The handler is invoked from Zenoh's internal callback thread by default.
+    Pass ``max_workers`` to run the handler in a thread pool instead — use
+    this for slow work (I/O, DB writes, HTTP calls).
+
+    Args:
+        session: Active Zenoh session.
+        topic: Key expression to subscribe to.
+        handler: Callable invoked with each decoded message.
+        registry: SchemaRegistry for auto-decoding samples by encoding header.
+    """
+
+    def __init__(
+        self,
+        session: zenoh.Session,
+        topic: str,
+        handler: Callable,
+        registry,
+    ): ...
+
+    def undeclare(self) -> None:
+        """Undeclare the Zenoh subscriber and release resources."""
+```
+
+**String formatting:**
+
+- Use `%`-style formatting for log calls — NOT f-strings: `log.info("Started %s", name)`
+  - Reason: lazy evaluation — the string is only formatted if the log level is active
+- Use f-strings everywhere else: `raise ValueError(f"Unknown topic: {topic}")`
+
+**Imports:**
+- Cross-module type-only imports go under `if TYPE_CHECKING:` at the top of the file
+- Lazy runtime imports (inside method bodies) are kept to avoid circular import issues
+- `__init__.py` must be updated whenever a new public class is added to `subscriber.py` or `publisher.py`
+
+**Zenoh session:**
+- ALWAYS use `mode: "client"` — peer mode does not route through zenohd
+- NEVER use `.complete(True)` on queryables — blocks wildcard queries like `bubbaloop/**/schema`
+- `query.key_expr` is a **property**, NOT a method — NEVER write `query.key_expr()`
+- `query.reply(query.key_expr, payload_bytes)` — correct reply pattern
+
+**Threading — critical:**
+- Zenoh uses **one internal thread** for ALL callbacks and queryables on a session
+- A slow handler blocks every other subscriber/queryable until it returns
+- Pass `max_workers=N` to `subscriber_callback` / `subscriber_raw_callback` / `queryable` / `queryable_raw` for any handler that does I/O, DB access, or hardware calls
+- Shutdown order for thread-pool variants: undeclare Zenoh subscriber FIRST, then `executor.shutdown()` — reversing this causes `RuntimeError: cannot schedule new futures after shutdown`
+
+**`undeclare()` discipline:**
+- Every subscriber, callback subscriber, and queryable must be undeclared when done
+- `Queryable`, `CallbackSubscriber`, and `RawCallbackSubscriber` with `max_workers` own a `ThreadPoolExecutor` — GC alone is not enough, always call `undeclare()`
+- Blocking subscribers (`RawSubscriber`) are undeclared via `undeclare()` too
+
+## Testing
+
+Tests do NOT open a real Zenoh session. Use `_make_context()`:
+
+```python
+def _make_context(machine_id):
+    from bubbaloop_sdk.context import NodeContext
+    ctx = object.__new__(NodeContext)
+    ctx.session = MagicMock()
+    ctx.machine_id = machine_id
+    ctx.instance_name = machine_id
+    ctx._shutdown = threading.Event()
+    return ctx
+```
+
+For async/threaded tests use `threading.Event` with a 2s timeout — do NOT use `time.sleep`:
+
+```python
+event = threading.Event()
+def handler(msg):
+    received.append(msg)
+    event.set()
+assert event.wait(timeout=2.0), "handler not called within 2s"
+```
+
+## DO / DON'T
+
+**DO:** `pixi run check` before every commit | add tests when adding public methods | update `__init__.py` and its `__all__` for every new public class | call `undeclare()` in tests that create async subscribers or queryables
+
+**DON'T:** use `asyncio` — the SDK is synchronous by design | use `query.key_expr()` with parentheses | use `.complete(True)` on queryables | add string forward references (`"Foo"`) — use `TYPE_CHECKING` instead | suppress lint rules globally when a per-file or code-level fix is possible
+
+## Pitfalls
+
+- `B904` — always `raise Foo from err` inside `except` blocks, never bare `raise Foo(...)`
+- `F401` in `__init__.py` is suppressed by ruff config (re-exports are intentional) — do NOT add `# noqa` comments there
+- `CallbackSubscriber` and `RawCallbackSubscriber` without `max_workers` do NOT own an executor — `undeclare()` only calls `_sub.undeclare()`; with `max_workers` they own a `ThreadPoolExecutor` and shut it down in `undeclare()`
+- `ProtoSubscriber` and `RawSubscriber` are iterable (`for msg in sub`); iteration raises `StopIteration` on exception via `_BaseSubscriber.__next__` — prefer `recv(timeout=...)` in shutdown-aware loops to avoid blocking indefinitely
+- `run_node()` reads `config.yaml` by default; override with `-c path/config.yaml`. The `name` field in config sets `instance_name` for health/schema topics — collisions happen if two instances share the same name
+- Health topic format: `bubbaloop/global/{machine_id}/{instance_name}/health` — ensure consumer patterns match exactly
diff --git a/python-sdk/CONTRIBUTING.md b/python-sdk/CONTRIBUTING.md
new file mode 100644
index 0000000..110608d
--- /dev/null
+++ b/python-sdk/CONTRIBUTING.md
@@ -0,0 +1,81 @@
+# Contributing to bubbaloop-sdk (Python)
+
+## Dev environment
+
+### With pixi (recommended)
+
+```bash
+cd python-sdk
+pixi install   # creates env, installs all deps including dev extras
+pixi run test
+pixi run lint
+pixi run fmt
+```
+
+Available tasks:
+
+| Task | Description |
+|---|---|
+| `pixi run test` | Run test suite |
+| `pixi run test-cov` | Run tests with coverage report |
+| `pixi run lint` | Check for lint errors (ruff) |
+| `pixi run lint-fix` | Auto-fix lint errors |
+| `pixi run fmt` | Format code |
+| `pixi run fmt-check` | Check formatting without changing files |
+| `pixi run check` | Run fmt-check + lint (CI equivalent) |
+
+### With plain venv
+
+```bash
+cd python-sdk
+python3 -m venv .venv
+.venv/bin/pip install -e ".[dev]"
+.venv/bin/pytest tests/ -v
+.venv/bin/ruff check bubbaloop_sdk/ tests/
+```
+
+## Linting (ruff)
+
+Config lives in `python-sdk/pyproject.toml` under `[tool.ruff]`.
+Follows the same pattern as [kornia/kornia](https://github.com/kornia/kornia).
+
+Rules enabled: E/W (pycodestyle), F (Pyflakes), I (isort), B (bugbear),
+UP (pyupgrade), C4 (comprehensions), RUF (ruff-specific).
+
+Line length: 120 characters.
+
+## Lint suppressions
+
+| File | Rule | Reason |
+|---|---|---|
+| `*/__init__.py` | F401, F403 | Re-exports allowed |
+| `tests/*` | S101, D | Assert and missing docstrings allowed in tests |
+
+## Testing
+
+Tests in `tests/test_context.py` do **not** open a real Zenoh session.
+`_make_context()` uses `object.__new__(NodeContext)` + `MagicMock()` — no router needed.
+
+For async subscriber/queryable tests, `threading.Event` with a 2s timeout
+verifies that handlers are dispatched to the thread pool correctly.
+
+## Project structure
+
+```text
+python-sdk/
+  pyproject.toml        # Build config, deps, ruff/pytest/coverage config
+  pixi.toml             # Pixi tasks (test, lint, fmt, check)
+  README.md             # User-facing API docs
+  bubbaloop_sdk/
+    __init__.py         # Public API surface
+    context.py          # NodeContext — main entry point
+    subscriber.py       # ProtoSubscriber, RawSubscriber, CallbackSubscriber, RawCallbackSubscriber, Queryable
+    publisher.py        # JsonPublisher, ProtoPublisher
+    node.py             # run_node() helper
+    health.py           # Health heartbeat (used internally by run_node)
+    discover.py         # discover_nodes()
+    get_sample.py       # get_sample() one-shot helper
+    decode_sample.py    # ProtoDecoder
+  tests/
+    test_context.py     # 68 unit tests (no real Zenoh required)
+```
diff --git a/python-sdk/README.md b/python-sdk/README.md
index 2a04709..698d478 100644
--- a/python-sdk/README.md
+++ b/python-sdk/README.md
@@ -1,7 +1,7 @@
 # bubbaloop-sdk (Python)
 
-Pure Python wrapper over `zenoh-python` with the same API surface as the Rust Node SDK.
-No compilation required — installable directly from the git repository.
+Pure Python wrapper over `zenoh-python`. Synchronous API — no asyncio required.
+No compilation needed; install directly from the git repository.
 
 ## Install
 
@@ -18,7 +18,24 @@ pip install -e ".[dev]"
 
 ## Quick start
 
-### Protobuf node
+### Publish JSON
+
+```python
+import time
+from bubbaloop_sdk import NodeContext
+
+ctx = NodeContext.connect()
+pub = ctx.publisher_json("weather/current")
+
+while not ctx.is_shutdown():
+    pub.put({"temperature": 22.5, "humidity": 60})
+    time.sleep(1.0)
+
+pub.undeclare()
+ctx.close()
+```
+
+### Publish protobuf
 
 ```python
 import time
@@ -39,46 +56,63 @@ pub.undeclare()
 ctx.close()
 ```
 
-### JSON node
+### Auto-decode subscriber
 
 ```python
-import time
 from bubbaloop_sdk import NodeContext
 
 ctx = NodeContext.connect()
-pub = ctx.publisher_json("weather/current")
+sub = ctx.subscribe("sensor/data")
 
-while not ctx.is_shutdown():
-    pub.put({"temperature": 22.5, "humidity": 60})
-    time.sleep(1.0)
+for msg in sub:   # auto-decoded: proto, dict, or bytes
+    print(msg)
+```
 
-pub.undeclare()
+### Callback subscriber (event-driven, no loop needed)
+
+```python
+from bubbaloop_sdk import NodeContext
+
+ctx = NodeContext.connect()
+
+def on_sensor(msg):
+    print(f"received: {msg}")  # proto, dict, or bytes depending on encoding
+
+sub = ctx.subscriber_callback("sensor/data", on_sensor)
+ctx.wait_shutdown()   # block until SIGINT/SIGTERM
+sub.undeclare()
 ctx.close()
 ```
 
-### Proto subscriber
+Pass `max_workers` when the handler does slow work (DB writes, HTTP calls) —
+the handler runs in a thread pool, freeing Zenoh's internal thread:
 
 ```python
+sub = ctx.subscriber_callback("sensor/data", on_sensor, max_workers=4)
+```
+
+### Queryable (respond to get requests)
+
+```python
+import json
 from bubbaloop_sdk import NodeContext
-from my_protos_pb2 import SensorData
 
 ctx = NodeContext.connect()
-sub = ctx.subscriber("sensor/data", SensorData)
 
-for msg in sub:
-    print(f"value: {msg.value}")
+def on_query(query):
+    query.reply(query.key_expr, json.dumps({"status": "ok"}).encode())
+
+qbl = ctx.queryable("status", on_query)
+ctx.wait_shutdown()
+qbl.undeclare()
+ctx.close()
 ```
 
-### Schema queryable (protobuf nodes)
+Pass `max_workers` when the handler does slow work:
 
 ```python
-from bubbaloop_sdk.schema import declare_schema_queryable
-from my_protos_pb2 import SensorData
-
-# Declare once — keeps the queryable alive while the reference is held
-schema_qbl = declare_schema_queryable(
-    ctx.session, ctx.machine_id, "my-node", SensorData
-)
+qbl = ctx.queryable("status", on_query, max_workers=4)
+qbl.undeclare()   # call when done to release the thread pool
 ```
 
 ## Configuration
@@ -88,13 +122,7 @@ schema_qbl = declare_schema_queryable(
 | `BUBBALOOP_ZENOH_ENDPOINT` | `tcp/127.0.0.1:7447` | Zenoh router endpoint |
 | `BUBBALOOP_MACHINE_ID` | hostname (sanitized) | Machine identifier |
 
-## Requirements
-
-- Python 3.9+
-- `eclipse-zenoh >= 1.7, < 2`
-- `protobuf >= 4.0`
-
-## API
+## API reference
 
 ### `NodeContext`
 
@@ -105,13 +133,33 @@ schema_qbl = declare_schema_queryable(
 | `ctx.local_topic(suffix)` | Build `bubbaloop/local/{machine_id}/{suffix}` (SHM-only) |
 | `ctx.publisher_proto(suffix, msg_class)` | Declared protobuf publisher |
 | `ctx.publisher_json(suffix)` | Declared JSON publisher |
-| `ctx.subscriber(suffix, msg_class=None)` | Proto subscriber (iterable) |
-| `ctx.subscriber_raw(key_expr)` | Raw sample subscriber (no topic prefix) |
+| `ctx.publisher_raw(suffix, local=False)` | Declared raw publisher (no encoding) |
+| `ctx.subscribe(suffix, local=False)` | Auto-decode subscriber (proto/json/bytes) |
+| `ctx.subscribe_raw(suffix, local=False)` | Raw bytes subscriber |
 | `ctx.is_shutdown()` | True after SIGINT/SIGTERM |
 | `ctx.wait_shutdown()` | Block until shutdown |
 | `ctx.close()` | Close the Zenoh session |
 
-### `ProtoPublisher` / `JsonPublisher`
+#### Callback subscribers (event-driven)
+
+Handler runs on Zenoh's internal thread by default. Pass `max_workers` to
+run the handler in a thread pool instead (for slow work).
+
+| Method | Description |
+|---|---|
+| `ctx.subscriber_callback(suffix, handler, max_workers=None)` | Auto-decoded message to handler |
+| `ctx.subscriber_raw_callback(key_expr, handler, max_workers=None)` | Raw `zenoh.Sample` to handler |
+
+#### Queryables
+
+Do **not** pass `complete=True` — it blocks wildcard queries used by the dashboard.
+
+| Method | Description |
+|---|---|
+| `ctx.queryable(suffix, handler, max_workers=None)` | Queryable at `topic(suffix)` |
+| `ctx.queryable_raw(key_expr, handler, max_workers=None)` | Queryable at literal key expression |
+
+#### Publishers
 
 | Method | Description |
 |---|---|
@@ -120,5 +168,10 @@ schema_qbl = declare_schema_queryable(
 
 ### `ProtoSubscriber` / `RawSubscriber`
 
-Both support `for` iteration.  `RawSubscriber` also exposes `recv()` for
-direct use and yields `zenoh.Sample` objects directly.
+Both support `for` iteration. `RawSubscriber` yields `bytes` directly.
+
+## Requirements
+
+- Python 3.10+
+- `eclipse-zenoh >= 1.7, < 2`
+- `protobuf >= 4.0`
diff --git a/python-sdk/bubbaloop_sdk/__init__.py b/python-sdk/bubbaloop_sdk/__init__.py
index d269022..f495fde 100644
--- a/python-sdk/bubbaloop_sdk/__init__.py
+++ b/python-sdk/bubbaloop_sdk/__init__.py
@@ -10,11 +10,18 @@
 from .decode_sample import ProtoDecoder
 from .discover import NodeInfo, discover_nodes
 from .get_sample import GetSampleTimeout, get_sample
-from .publisher import JsonPublisher, ProtoPublisher, RawPublisher
-from .subscriber import ProtoSubscriber, RawSubscriber
 from .node import run_node
+from .publisher import JsonPublisher, ProtoPublisher, RawPublisher
+from .subscriber import (
+    CallbackSubscriber,
+    ProtoSubscriber,
+    Queryable,
+    RawCallbackSubscriber,
+    RawSubscriber,
+)
 
 __all__ = [
+    "CallbackSubscriber",
     "GetSampleTimeout",
     "JsonPublisher",
     "NodeContext",
@@ -22,6 +29,8 @@
     "ProtoDecoder",
     "ProtoPublisher",
     "ProtoSubscriber",
+    "Queryable",
+    "RawCallbackSubscriber",
     "RawPublisher",
     "RawSubscriber",
     "discover_nodes",
diff --git a/python-sdk/bubbaloop_sdk/context.py b/python-sdk/bubbaloop_sdk/context.py
index 461666c..f330801 100644
--- a/python-sdk/bubbaloop_sdk/context.py
+++ b/python-sdk/bubbaloop_sdk/context.py
@@ -13,13 +13,27 @@
         msg = sub.recv()   # auto-decoded: dict, proto, or bytes
 """
 
+from __future__ import annotations
+
 import os
 import signal
 import socket
 import threading
+from collections.abc import Callable
+from typing import TYPE_CHECKING, Any
 
 import zenoh
 
+if TYPE_CHECKING:
+    from .publisher import JsonPublisher, ProtoPublisher, RawPublisher
+    from .subscriber import (
+        CallbackSubscriber,
+        ProtoSubscriber,
+        Queryable,
+        RawCallbackSubscriber,
+        RawSubscriber,
+    )
+
 
 def _hostname() -> str:
     return socket.gethostname().replace("-", "_")
@@ -49,7 +63,7 @@ def connect(
         cls,
         endpoint: str | None = None,
         instance_name: str | None = None,
-    ) -> "NodeContext":
+    ) -> NodeContext:
         """Connect to a Zenoh router and return a ready NodeContext.
 
         Endpoint resolution: ``endpoint`` arg → ``BUBBALOOP_ZENOH_ENDPOINT`` env
@@ -109,18 +123,20 @@ def wait_shutdown(self) -> None:
     # Publishers
     # ------------------------------------------------------------------
 
-    def publisher_json(self, suffix: str) -> "JsonPublisher":
+    def publisher_json(self, suffix: str) -> JsonPublisher:
         """Declare a JSON publisher at ``topic(suffix)``."""
         from .publisher import JsonPublisher
+
         return JsonPublisher._declare(self.session, self.topic(suffix))
 
-    def publisher_proto(self, suffix: str, msg_class=None) -> "ProtoPublisher":
+    def publisher_proto(self, suffix: str, msg_class: type | None = None) -> ProtoPublisher:
         """Declare a protobuf publisher at ``topic(suffix)``."""
         from .publisher import ProtoPublisher
+
         type_name = msg_class.DESCRIPTOR.full_name if msg_class is not None else None
         return ProtoPublisher._declare(self.session, self.topic(suffix), type_name)
 
-    def publisher_raw(self, suffix: str, local: bool = False) -> "RawPublisher":
+    def publisher_raw(self, suffix: str, local: bool = False) -> RawPublisher:
         """Declare a raw publisher with no encoding.
 
         When ``local=True``, publishes to ``local/{machine_id}/{suffix}`` with
@@ -128,13 +144,14 @@ def publisher_raw(self, suffix: str, local: bool = False) -> "RawPublisher":
         SHM buffer instead of dropping frames. Never crosses the bridge.
         """
         from .publisher import RawPublisher
+
         return RawPublisher._declare(self.session, self._resolve_topic(suffix, local), local=local)
 
     # ------------------------------------------------------------------
     # Subscribers
     # ------------------------------------------------------------------
 
-    def subscribe(self, suffix: str, local: bool = False) -> "ProtoSubscriber":
+    def subscribe(self, suffix: str, local: bool = False) -> ProtoSubscriber:
         """Declare a subscriber that auto-decodes every message by its encoding.
 
         - ``application/protobuf;<TypeName>`` → decoded proto object (schema fetched on demand)
@@ -157,11 +174,12 @@ def subscribe(self, suffix: str, local: bool = False) -> "ProtoSubscriber":
         """
         from .schema_registry import SchemaRegistry
         from .subscriber import ProtoSubscriber
-        if not hasattr(self, '_schema_registry'):
+
+        if not hasattr(self, "_schema_registry"):
             self._schema_registry = SchemaRegistry(self.session)
         return ProtoSubscriber(self.session, self._resolve_topic(suffix, local), self._schema_registry)
 
-    def subscribe_raw(self, suffix: str, local: bool = False) -> "RawSubscriber":
+    def subscribe_raw(self, suffix: str, local: bool = False) -> RawSubscriber:
         """Declare a subscriber that yields raw ``bytes`` with no decoding.
 
         Use when you need direct access to the payload — e.g. to pass to
@@ -170,8 +188,88 @@ def subscribe_raw(self, suffix: str, local: bool = False) -> "RawSubscriber":
         When ``local=True``, subscribes to the SHM-only local topic.
         """
         from .subscriber import RawSubscriber
+
         return RawSubscriber(self.session, self._resolve_topic(suffix, local))
 
+    # ------------------------------------------------------------------
+    # Callback Subscribers
+    # ------------------------------------------------------------------
+
+    def subscriber_callback(
+        self, suffix: str, handler: Callable[[Any], None], max_workers: int | None = None
+    ) -> CallbackSubscriber:
+        """Callback subscriber at ``topic(suffix)`` with auto-decode.
+
+        ``handler`` receives auto-decoded messages (proto, dict, or bytes).
+
+        By default the handler runs on Zenoh's internal thread (fast path).
+        Pass ``max_workers`` to run the handler in a thread pool instead —
+        use this when the handler does slow work (DB writes, HTTP calls).
+        """
+        from .schema_registry import SchemaRegistry
+        from .subscriber import CallbackSubscriber
+
+        if not hasattr(self, "_schema_registry"):
+            self._schema_registry = SchemaRegistry(self.session)
+        return CallbackSubscriber(self.session, self.topic(suffix), handler, self._schema_registry, max_workers)
+
+    def subscriber_raw_callback(
+        self, key_expr: str, handler: Callable[[zenoh.Sample], None], max_workers: int | None = None
+    ) -> RawCallbackSubscriber:
+        """Callback subscriber at a literal key expression.
+
+        ``handler`` receives raw ``zenoh.Sample`` objects.
+
+        By default the handler runs on Zenoh's internal thread. Pass
+        ``max_workers`` to run the handler in a thread pool instead.
+        """
+        from .subscriber import RawCallbackSubscriber
+
+        return RawCallbackSubscriber(self.session, key_expr, handler, max_workers)
+
+    # ------------------------------------------------------------------
+    # Queryables
+    # ------------------------------------------------------------------
+
+    def queryable(
+        self, suffix: str, handler: Callable[[zenoh.Query], None], max_workers: int | None = None
+    ) -> Queryable:
+        """Declare a queryable at ``topic(suffix)``.
+
+        ``handler`` receives a ``zenoh.Query``. Use the standard zenoh API to reply::
+
+            def on_command(query: zenoh.Query) -> None:
+                result = process(query.payload.to_string())
+                query.reply(query.key_expr, json.dumps(result).encode())
+
+            qbl = ctx.queryable("command", on_command)
+
+        By default the handler runs on Zenoh's internal thread. Pass
+        ``max_workers`` to run the handler in a thread pool instead.
+
+        Call ``undeclare()`` on the returned queryable when done.
+        """
+        from .subscriber import Queryable
+
+        return Queryable(self.session, self.topic(suffix), handler, max_workers)
+
+    def queryable_raw(
+        self, key_expr: str, handler: Callable[[zenoh.Query], None], max_workers: int | None = None
+    ) -> Queryable:
+        """Declare a queryable at a literal key expression (no topic prefix).
+
+        Use for wildcard queryables or when the ``bubbaloop/global/{machine_id}/``
+        prefix does not apply (e.g. ``bubbaloop/**/schema`` for multi-schema serving).
+
+        By default the handler runs on Zenoh's internal thread. Pass
+        ``max_workers`` to run the handler in a thread pool instead.
+
+        Call ``undeclare()`` on the returned queryable when done.
+        """
+        from .subscriber import Queryable
+
+        return Queryable(self.session, key_expr, handler, max_workers)
+
     # ------------------------------------------------------------------
     # Cleanup
     # ------------------------------------------------------------------
diff --git a/python-sdk/bubbaloop_sdk/decode_sample.py b/python-sdk/bubbaloop_sdk/decode_sample.py
index c91121f..3f2f194 100644
--- a/python-sdk/bubbaloop_sdk/decode_sample.py
+++ b/python-sdk/bubbaloop_sdk/decode_sample.py
@@ -32,7 +32,8 @@ def _get_proto_class(factory, descriptor):  # type: ignore[no-untyped-def]
         return factory.GetPrototype(descriptor)
 
 
-from google.protobuf import descriptor_pb2, descriptor_pool, message_factory as _message_factory
+from google.protobuf import descriptor_pb2, descriptor_pool
+from google.protobuf import message_factory as _message_factory
 from google.protobuf.json_format import MessageToDict
 
 
diff --git a/python-sdk/bubbaloop_sdk/get_sample.py b/python-sdk/bubbaloop_sdk/get_sample.py
index 43c06e3..aef5125 100644
--- a/python-sdk/bubbaloop_sdk/get_sample.py
+++ b/python-sdk/bubbaloop_sdk/get_sample.py
@@ -44,7 +44,7 @@ def _handler(sample: zenoh.Sample) -> None:
     sub = session.declare_subscriber(key_expr, _handler)
     try:
         return await asyncio.wait_for(future, timeout=timeout)
-    except asyncio.TimeoutError:
-        raise GetSampleTimeout(key_expr, timeout)
+    except asyncio.TimeoutError as err:
+        raise GetSampleTimeout(key_expr, timeout) from err
     finally:
         sub.undeclare()
diff --git a/python-sdk/bubbaloop_sdk/health.py b/python-sdk/bubbaloop_sdk/health.py
index f679735..1d7120c 100644
--- a/python-sdk/bubbaloop_sdk/health.py
+++ b/python-sdk/bubbaloop_sdk/health.py
@@ -1,7 +1,6 @@
 """Background health heartbeat thread."""
 
 import threading
-import time
 
 import zenoh
 
diff --git a/python-sdk/bubbaloop_sdk/node.py b/python-sdk/bubbaloop_sdk/node.py
index d5081b6..a4f34a5 100644
--- a/python-sdk/bubbaloop_sdk/node.py
+++ b/python-sdk/bubbaloop_sdk/node.py
@@ -15,8 +15,6 @@
 
 import argparse
 import logging
-import os
-import time
 
 import yaml
 
@@ -53,15 +51,18 @@ def run_node(node_class) -> None:
 
     ctx = NodeContext.connect(endpoint=args.endpoint, instance_name=instance_name)
 
-    start_health_heartbeat(ctx.session, ctx.machine_id, instance_name, ctx._shutdown)
-    log.info("Health heartbeat: bubbaloop/global/%s/%s/health", ctx.machine_id, instance_name)
-
-    node = node_class(ctx, config)
-    log.info("Initialized. Running…")
+    heartbeat = None
     try:
+        node = node_class(ctx, config)
+        log.info("Initialized. Running…")
+        heartbeat = start_health_heartbeat(ctx.session, ctx.machine_id, instance_name, ctx._shutdown)
+        log.info("Health heartbeat: bubbaloop/global/%s/%s/health", ctx.machine_id, instance_name)
         node.run()
     except KeyboardInterrupt:
         pass
     finally:
+        ctx._shutdown.set()  # stop heartbeat before closing session
+        if heartbeat is not None:
+            heartbeat.join(timeout=1.0)
         ctx.close()
         log.info("Shutdown complete")
diff --git a/python-sdk/bubbaloop_sdk/schema_registry.py b/python-sdk/bubbaloop_sdk/schema_registry.py
index 3455a38..5e7fde3 100644
--- a/python-sdk/bubbaloop_sdk/schema_registry.py
+++ b/python-sdk/bubbaloop_sdk/schema_registry.py
@@ -54,7 +54,7 @@ def decode(self, sample: zenoh.Sample) -> object:
         if not encoding.startswith(_PROTO_PREFIX):
             return payload
 
-        type_name = encoding[len(_PROTO_PREFIX):]
+        type_name = encoding[len(_PROTO_PREFIX) :]
         msg_class = self._resolve(type_name)
         if msg_class is None:
             log.debug("SchemaRegistry: no class for %s, returning raw bytes", type_name)
diff --git a/python-sdk/bubbaloop_sdk/subscriber.py b/python-sdk/bubbaloop_sdk/subscriber.py
index 3c9ac96..22875fa 100644
--- a/python-sdk/bubbaloop_sdk/subscriber.py
+++ b/python-sdk/bubbaloop_sdk/subscriber.py
@@ -1,7 +1,17 @@
-"""Blocking Zenoh subscribers."""
+"""Zenoh subscribers — blocking and callback-based."""
+
+from __future__ import annotations
+
+import concurrent.futures
+import threading
+from collections.abc import Callable
+from typing import TYPE_CHECKING, Any
 
 import zenoh
 
+if TYPE_CHECKING:
+    from .schema_registry import SchemaRegistry
+
 
 class _BaseSubscriber:
     """Shared iterator protocol and cleanup for all subscriber types."""
@@ -55,7 +65,7 @@ class ProtoSubscriber(_BaseSubscriber):
             tensor = torch.frombuffer(msg.data, dtype=torch.uint8)
     """
 
-    def __init__(self, session: zenoh.Session, topic: str, registry):
+    def __init__(self, session: zenoh.Session, topic: str, registry: SchemaRegistry):
         super().__init__(session, topic)
         self._registry = registry
 
@@ -77,9 +87,188 @@ class RawSubscriber(_BaseSubscriber):
         sub = ctx.subscribe_raw("camera/raw", local=True)
         for raw_bytes in sub:
             tensor = torch.frombuffer(raw_bytes, dtype=torch.uint8)
+
     """
 
     def recv(self) -> bytes:
         """Block until the next frame arrives and return the raw bytes."""
         sample = self._sub.recv()
         return bytes(sample.payload)
+
+
+class CallbackSubscriber(_BaseSubscriber):
+    """Callback-based subscriber with auto-decode via SchemaRegistry.
+
+    ``handler`` receives a decoded message: protobuf object, ``dict`` (JSON),
+    or raw ``bytes`` — determined automatically by the sample's encoding header.
+
+    By default the handler runs on Zenoh's internal thread (fast path). Pass
+    ``max_workers`` to run the handler in a ``ThreadPoolExecutor`` instead —
+    use this when the handler does slow work (DB writes, HTTP calls, hardware I/O).
+
+    Args:
+        session: Active Zenoh session.
+        topic: Key expression to subscribe to.
+        handler: Callable invoked with each decoded message.
+        registry: SchemaRegistry for auto-decoding samples by encoding header.
+        max_workers: If None (default), handler runs on Zenoh's thread. If int,
+            handler runs in a ThreadPoolExecutor with that many threads.
+
+    Call ``undeclare()`` when done to stop receiving samples.
+    """
+
+    def __init__(
+        self,
+        session: zenoh.Session,
+        topic: str,
+        handler: Callable[[Any], None],
+        registry: SchemaRegistry,
+        max_workers: int | None = None,
+    ):
+        self._executor: concurrent.futures.ThreadPoolExecutor | None = None
+        self._closing: threading.Event | None = None
+
+        if max_workers is not None:
+            self._executor = concurrent.futures.ThreadPoolExecutor(max_workers=max_workers)
+            self._closing = threading.Event()
+
+            def _wrap(sample: zenoh.Sample) -> None:
+                if self._closing.is_set():  # type: ignore[union-attr]
+                    return
+                try:
+                    self._executor.submit(lambda s=sample: handler(registry.decode(s)))  # type: ignore[union-attr]
+                except RuntimeError:
+                    pass  # executor already shut down — drop the message
+
+            self._sub = session.declare_subscriber(topic, _wrap)
+        else:
+            self._sub = session.declare_subscriber(topic, lambda sample: handler(registry.decode(sample)))
+        self._undeclared = False
+
+    def undeclare(self) -> None:
+        """Undeclare the subscriber and shutdown the thread pool (if any). Idempotent."""
+        if self._undeclared:
+            return
+        if self._closing is not None:
+            self._closing.set()
+        super().undeclare()
+        if self._executor is not None:
+            self._executor.shutdown(wait=False, cancel_futures=True)
+
+
+class RawCallbackSubscriber(_BaseSubscriber):
+    """Callback-based subscriber that passes raw ``zenoh.Sample`` to the handler.
+
+    Use when you need access to the full sample metadata (key_expr, encoding,
+    timestamp).
+
+    By default the handler runs on Zenoh's internal thread. Pass ``max_workers``
+    to run the handler in a ``ThreadPoolExecutor`` instead.
+
+    Args:
+        session: Active Zenoh session.
+        key_expr: Literal key expression to subscribe to.
+        handler: Callable invoked with each ``zenoh.Sample``.
+        max_workers: If None (default), handler runs on Zenoh's thread. If int,
+            handler runs in a ThreadPoolExecutor with that many threads.
+
+    Call ``undeclare()`` when done to stop receiving samples.
+    """
+
+    def __init__(
+        self,
+        session: zenoh.Session,
+        key_expr: str,
+        handler: Callable[[zenoh.Sample], None],
+        max_workers: int | None = None,
+    ):
+        self._executor: concurrent.futures.ThreadPoolExecutor | None = None
+        self._closing: threading.Event | None = None
+
+        if max_workers is not None:
+            self._executor = concurrent.futures.ThreadPoolExecutor(max_workers=max_workers)
+            self._closing = threading.Event()
+
+            def _wrap(sample: zenoh.Sample) -> None:
+                if self._closing.is_set():  # type: ignore[union-attr]
+                    return
+                try:
+                    self._executor.submit(handler, sample)  # type: ignore[union-attr]
+                except RuntimeError:
+                    pass  # executor already shut down — drop the message
+
+            self._sub = session.declare_subscriber(key_expr, _wrap)
+        else:
+            self._sub = session.declare_subscriber(key_expr, handler)
+        self._undeclared = False
+
+    def undeclare(self) -> None:
+        """Undeclare the subscriber and shutdown the thread pool (if any). Idempotent."""
+        if self._undeclared:
+            return
+        if self._closing is not None:
+            self._closing.set()
+        super().undeclare()
+        if self._executor is not None:
+            self._executor.shutdown(wait=False, cancel_futures=True)
+
+
+class Queryable:
+    """Queryable that responds to Zenoh GET requests.
+
+    ``handler`` receives a ``zenoh.Query`` and must call ``query.reply()`` to respond.
+
+    By default the handler runs on Zenoh's internal thread (fast path). Pass
+    ``max_workers`` to run the handler in a ``ThreadPoolExecutor`` instead —
+    use this when the handler does slow work (DB reads, hardware access, HTTP calls).
+
+    **Important:** do NOT pass ``complete=True`` to the underlying queryable —
+    it blocks wildcard queries like ``bubbaloop/**/schema`` used by the dashboard.
+
+    Args:
+        session: Active Zenoh session.
+        key_expr: Key expression to declare the queryable on.
+        handler: Callable invoked with each ``zenoh.Query``.
+        max_workers: If None (default), handler runs on Zenoh's thread. If int,
+            handler runs in a ThreadPoolExecutor with that many threads.
+
+    Call ``undeclare()`` when done to stop receiving queries.
+    """
+
+    def __init__(
+        self,
+        session: zenoh.Session,
+        key_expr: str,
+        handler: Callable[[zenoh.Query], None],
+        max_workers: int | None = None,
+    ):
+        self._executor: concurrent.futures.ThreadPoolExecutor | None = None
+        self._closing: threading.Event | None = None
+        self._undeclared = False
+
+        if max_workers is not None:
+            self._executor = concurrent.futures.ThreadPoolExecutor(max_workers=max_workers)
+            self._closing = threading.Event()
+
+            def _wrap(query: zenoh.Query) -> None:
+                if self._closing.is_set():  # type: ignore[union-attr]
+                    return
+                try:
+                    self._executor.submit(handler, query)  # type: ignore[union-attr]
+                except RuntimeError:
+                    pass  # executor already shut down — drop the query
+
+            self._qbl = session.declare_queryable(key_expr, _wrap)
+        else:
+            self._qbl = session.declare_queryable(key_expr, handler)
+
+    def undeclare(self) -> None:
+        """Undeclare the queryable and shutdown the thread pool (if any). Idempotent."""
+        if self._undeclared:
+            return
+        self._undeclared = True
+        if self._closing is not None:
+            self._closing.set()
+        self._qbl.undeclare()
+        if self._executor is not None:
+            self._executor.shutdown(wait=False, cancel_futures=True)
diff --git a/python-sdk/pixi.lock b/python-sdk/pixi.lock
new file mode 100644
index 0000000..8903e7d
--- /dev/null
+++ b/python-sdk/pixi.lock
@@ -0,0 +1,742 @@
+version: 6
+environments:
+  default:
+    channels:
+    - url: https://conda.anaconda.org/conda-forge/
+    indexes:
+    - https://pypi.org/simple
+    options:
+      pypi-prerelease-mode: if-necessary-or-explicit
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.2.25-hbd8a1cb_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-78.3-h33c6efd_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.45.1-default_hbd61a6d_102.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.7.5-hecca717_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libffi-3.5.2-h3435931_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.2-hb03c661_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libmpdec-4.0.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.52.0-hf4e2dac_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libuuid-2.42-h5347b49_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.5-h2d0b736_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.6.1-h35e630c_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.14.3-h32b2ec7_101_cp314.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.14-8_cp314.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/readline-8.3-h853b02a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h366c992_103.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025c-hc9c84f9_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
+      - pypi: https://files.pythonhosted.org/packages/22/e5/06b1f88f42a5a99df42ce61208bdec3bddb3d261412874280a19796fc09c/coverage-7.13.5-cp314-cp314-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/c6/f9/22883e613eb193f8f956e8e96d8f16e39b369dac4ade7aa3b37f344ddc62/eclipse_zenoh-1.8.0.tar.gz
+      - pypi: https://files.pythonhosted.org/packages/cb/b1/3846dd7f199d53cb17f49cba7e651e9ce294d8497c8c150530ed11865bb8/iniconfig-2.3.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b7/b9/c538f279a4e237a006a2c98387d081e9eb060d203d8ed34467cc0f0b9b53/packaging-26.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/54/20/4d324d65cc6d9205fabedc306948156824eb9f0ee1633355a8f7ec5c66bf/pluggy-1.6.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/53/1b/3b431694a4dc6d37b9f653f0c64b0a0d9ec074ee810710c0c3da21d67ba7/protobuf-7.34.1-cp310-abi3-manylinux2014_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/f4/7e/a72dd26f3b0f4f2bf1dd8923c85f7ceb43172af56d63c7383eb62b332364/pygments-2.20.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/3b/ab/b3226f0bd7cdcf710fbede2b3548584366da3b19b5021e74f5bde2a8fa3f/pytest-9.0.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/e5/35/f8b19922b6a25bc0880171a2f1a003eaeb93657475193ab516fd87cac9da/pytest_asyncio-1.3.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/9d/7a/d968e294073affff457b041c2be9868a40c1c71f4a35fcc1e45e5493067b/pytest_cov-7.1.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/88/f9/16491d7ed2a919954993e48aa941b200f38040928474c9e85ea9e64222c3/pyyaml-6.0.3-cp314-cp314-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/ff/6b/a1548ac378a78332a4c3dcf4a134c2475a36d2a22ddfa272acd574140b50/ruff-0.15.9-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+      - pypi: ./
+      linux-aarch64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/_openmp_mutex-4.5-20_gnu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/bzip2-1.0.8-h4777abc_9.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.2.25-hbd8a1cb_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/icu-78.3-hcab7f73_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ld_impl_linux-aarch64-2.45.1-default_h1979696_102.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libexpat-2.7.5-hfae3067_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libffi-3.5.2-h376a255_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libgcc-15.2.0-h8acb6b2_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libgomp-15.2.0-h8acb6b2_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/liblzma-5.8.2-he30d5cf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libmpdec-4.0.0-he30d5cf_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libsqlite-3.52.0-h10b116e_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libstdcxx-15.2.0-hef695bb_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libuuid-2.42-h1022ec0_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libzlib-1.3.2-hdc9db2a_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ncurses-6.5-ha32ae93_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/openssl-3.6.1-h546c87b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/python-3.14.3-hb06a95a_101_cp314.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.14-8_cp314.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/readline-8.3-hb682ff5_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/tk-8.6.13-noxft_h0dc03b3_103.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025c-hc9c84f9_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/zstd-1.5.7-h85ac4a6_6.conda
+      - pypi: https://files.pythonhosted.org/packages/80/28/2a148a51e5907e504fa7b85490277734e6771d8844ebcc48764a15e28155/coverage-7.13.5-cp314-cp314-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
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diff --git a/python-sdk/pixi.toml b/python-sdk/pixi.toml
new file mode 100644
index 0000000..9261b8a
--- /dev/null
+++ b/python-sdk/pixi.toml
@@ -0,0 +1,22 @@
+[workspace]
+name = "bubbaloop-sdk"
+version = "0.1.0"
+description = "Bubbaloop Node SDK for Python"
+channels = ["conda-forge"]
+platforms = ["linux-64", "linux-aarch64"]
+
+[dependencies]
+python = ">=3.10"
+
+[pypi-dependencies]
+bubbaloop-sdk = { path = ".", extras = ["dev"] }
+
+[tasks]
+install     = "pip install -e '.[dev]'"
+test        = "pytest tests/ -v"
+test-cov    = "pytest tests/ -v --cov=bubbaloop_sdk --cov-report=term-missing"
+lint        = "ruff check bubbaloop_sdk/ tests/"
+lint-fix    = "ruff check --fix bubbaloop_sdk/ tests/"
+fmt         = "ruff format bubbaloop_sdk/ tests/"
+fmt-check   = "ruff format --check bubbaloop_sdk/ tests/"
+check       = { depends-on = ["fmt-check", "lint"] }
diff --git a/python-sdk/pyproject.toml b/python-sdk/pyproject.toml
index c391506..267e990 100644
--- a/python-sdk/pyproject.toml
+++ b/python-sdk/pyproject.toml
@@ -6,15 +6,104 @@ build-backend = "setuptools.build_meta"
 name = "bubbaloop-sdk"
 version = "0.1.0"
 description = "Bubbaloop Node SDK for Python"
-requires-python = ">=3.9"
+readme = "README.md"
+license = { text = "Apache-2.0" }
+authors = [{ name = "Kornia Team", email = "edgar.riba@gmail.com" }]
+requires-python = ">=3.10"
+keywords = ["robotics", "physical-ai", "zenoh", "pub-sub"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Developers",
+    "License :: OSI Approved :: Apache Software License",
+    "Natural Language :: English",
+    "Operating System :: OS Independent",
+    "Programming Language :: Python :: 3 :: Only",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Topic :: Software Development :: Libraries",
+    "Topic :: System :: Distributed Computing",
+]
 dependencies = [
     "eclipse-zenoh>=1.7,<2",
     "protobuf>=4.0",
+    "pyyaml>=6.0",
 ]
 
+[project.urls]
+"Bug Tracker" = "https://github.com/kornia/bubbaloop/issues"
+"Source Code" = "https://github.com/kornia/bubbaloop"
+Homepage = "https://github.com/kornia/bubbaloop"
+
 [project.optional-dependencies]
-dev = ["pytest", "pytest-asyncio"]
+dev = [
+    "pytest",
+    "pytest-asyncio",
+    "pytest-cov",
+    "ruff",
+]
 
 [tool.setuptools.packages.find]
 where = ["."]
 include = ["bubbaloop_sdk*"]
+
+# ---------------------------------------------------------------------------
+# pytest
+# ---------------------------------------------------------------------------
+
+[tool.pytest.ini_options]
+addopts = "--color=yes -v"
+testpaths = ["tests"]
+
+# ---------------------------------------------------------------------------
+# coverage
+# ---------------------------------------------------------------------------
+
+[tool.coverage.run]
+branch = true
+source = ["bubbaloop_sdk/"]
+
+[tool.coverage.report]
+show_missing = true
+skip_covered = true
+exclude_lines = [
+    "pragma: no cover",
+    "raise NotImplementedError",
+    "if TYPE_CHECKING:",
+    "def __repr__",
+]
+
+# ---------------------------------------------------------------------------
+# Ruff — linter + formatter (replaces flake8, isort, pycodestyle)
+# Follows the same pattern as kornia/kornia
+# ---------------------------------------------------------------------------
+
+[tool.ruff]
+line-length = 120
+target-version = "py310"
+
+[tool.ruff.format]
+skip-magic-trailing-comma = false
+
+[tool.ruff.lint]
+select = [
+    "E",   # pycodestyle errors
+    "W",   # pycodestyle warnings
+    "F",   # Pyflakes
+    "I",   # isort
+    "B",   # flake8-bugbear
+    "UP",  # pyupgrade
+    "C4",  # flake8-comprehensions
+    "RUF", # Ruff-specific rules
+]
+ignore = []
+
+[tool.ruff.lint.isort]
+known-first-party = ["bubbaloop_sdk"]
+split-on-trailing-comma = true
+
+[tool.ruff.lint.per-file-ignores]
+# __init__.py files may re-export names (star imports allowed)
+"*/__init__.py" = ["F401", "F403"]
+# tests don't need docstrings and use assert freely
+"tests/*" = ["S101", "D"]
diff --git a/python-sdk/tests/test_context.py b/python-sdk/tests/test_context.py
index 9bf2004..715b569 100644
--- a/python-sdk/tests/test_context.py
+++ b/python-sdk/tests/test_context.py
@@ -10,16 +10,14 @@
 
 import pytest
 
-
 # ---------------------------------------------------------------------------
 # topic()
 # ---------------------------------------------------------------------------
 
+
 def test_topic_formatting():
     ctx = _make_context("jetson_orin")
-    assert ctx.topic("camera/front/compressed") == (
-        "bubbaloop/global/jetson_orin/camera/front/compressed"
-    )
+    assert ctx.topic("camera/front/compressed") == ("bubbaloop/global/jetson_orin/camera/front/compressed")
 
 
 def test_local_topic_formatting():
@@ -36,6 +34,7 @@ def test_topic_wildcard_suffix():
 # _resolve_topic()
 # ---------------------------------------------------------------------------
 
+
 def test_resolve_topic_global():
     ctx = _make_context("bot")
     assert ctx._resolve_topic("data", False) == "bubbaloop/global/bot/data"
@@ -60,14 +59,17 @@ def test_global_and_local_share_suffix():
 # _hostname() sanitization
 # ---------------------------------------------------------------------------
 
+
 def test_hostname_sanitization_hyphens(monkeypatch):
     from bubbaloop_sdk.context import _hostname
+
     monkeypatch.setattr(socket, "gethostname", lambda: "my-robot-01")
     assert _hostname() == "my_robot_01"
 
 
 def test_hostname_no_hyphens(monkeypatch):
     from bubbaloop_sdk.context import _hostname
+
     monkeypatch.setattr(socket, "gethostname", lambda: "myrobot")
     assert _hostname() == "myrobot"
 
@@ -76,25 +78,43 @@ def test_hostname_no_hyphens(monkeypatch):
 # Import surface
 # ---------------------------------------------------------------------------
 
+
 def test_import_node_context():
     from bubbaloop_sdk import NodeContext
+
     assert NodeContext is not None
 
 
 def test_import_publishers():
-    from bubbaloop_sdk import ProtoPublisher, JsonPublisher
+    from bubbaloop_sdk import JsonPublisher, ProtoPublisher
+
     assert ProtoPublisher is not None
     assert JsonPublisher is not None
 
 
 def test_import_subscribers():
     from bubbaloop_sdk import ProtoSubscriber, RawSubscriber
+
     assert ProtoSubscriber is not None
     assert RawSubscriber is not None
 
 
+def test_import_callback_subscribers():
+    from bubbaloop_sdk import CallbackSubscriber, RawCallbackSubscriber
+
+    assert CallbackSubscriber is not None
+    assert RawCallbackSubscriber is not None
+
+
+def test_import_queryable():
+    from bubbaloop_sdk import Queryable
+
+    assert Queryable is not None
+
+
 def test_import_run_node():
     from bubbaloop_sdk import run_node
+
     assert callable(run_node)
 
 
@@ -102,6 +122,7 @@ def test_import_run_node():
 # Shutdown
 # ---------------------------------------------------------------------------
 
+
 def test_shutdown_not_set_initially():
     ctx = _make_context("bot")
     assert not ctx.is_shutdown()
@@ -117,8 +138,10 @@ def test_shutdown_set_manually():
 # ProtoPublisher.put()
 # ---------------------------------------------------------------------------
 
+
 def test_proto_publisher_rejects_invalid_type():
     from bubbaloop_sdk.publisher import ProtoPublisher
+
     pub = ProtoPublisher(MagicMock(), None)
     with pytest.raises(TypeError):
         pub.put(12345)
@@ -126,6 +149,7 @@ def test_proto_publisher_rejects_invalid_type():
 
 def test_proto_publisher_accepts_bytes():
     from bubbaloop_sdk.publisher import ProtoPublisher
+
     mock_pub = MagicMock()
     ProtoPublisher(mock_pub, None).put(b"\x01\x02\x03")
     mock_pub.put.assert_called_once_with(b"\x01\x02\x03")
@@ -133,6 +157,7 @@ def test_proto_publisher_accepts_bytes():
 
 def test_proto_publisher_calls_serialize():
     from bubbaloop_sdk.publisher import ProtoPublisher
+
     fake_msg = MagicMock()
     fake_msg.SerializeToString.return_value = b"\xde\xad\xbe\xef"
     mock_pub = MagicMock()
@@ -144,8 +169,10 @@ def test_proto_publisher_calls_serialize():
 # JsonPublisher.put()
 # ---------------------------------------------------------------------------
 
+
 def test_json_publisher_serializes_dict():
     from bubbaloop_sdk.publisher import JsonPublisher
+
     mock_pub = MagicMock()
     JsonPublisher(mock_pub).put({"temperature": 22.5})
     assert json.loads(mock_pub.put.call_args[0][0]) == {"temperature": 22.5}
@@ -153,6 +180,7 @@ def test_json_publisher_serializes_dict():
 
 def test_json_publisher_passthrough_bytes():
     from bubbaloop_sdk.publisher import JsonPublisher
+
     mock_pub = MagicMock()
     JsonPublisher(mock_pub).put(b"raw")
     mock_pub.put.assert_called_once_with(b"raw")
@@ -160,17 +188,733 @@ def test_json_publisher_passthrough_bytes():
 
 def test_json_publisher_passthrough_str():
     from bubbaloop_sdk.publisher import JsonPublisher
+
     mock_pub = MagicMock()
     JsonPublisher(mock_pub).put("hello")
     mock_pub.put.assert_called_once_with(b"hello")
 
 
+def test_raw_subscriber_recv_returns_bytes():
+    """RawSubscriber.recv() returns bytes from sample payload."""
+    from bubbaloop_sdk.subscriber import RawSubscriber
+
+    fake_sample = MagicMock()
+    fake_sample.payload = b"\xde\xad\xbe\xef"
+
+    mock_sub = MagicMock()
+    mock_sub.recv.return_value = fake_sample
+
+    mock_session = MagicMock()
+    mock_session.declare_subscriber.return_value = mock_sub
+
+    sub = RawSubscriber(mock_session, "test/topic")
+    result = sub.recv()
+    assert result == b"\xde\xad\xbe\xef"
+
+
+# ---------------------------------------------------------------------------
+# RawSubscriber — undeclare unblocks recv()
+# ---------------------------------------------------------------------------
+
+
+def test_raw_subscriber_undeclare_is_idempotent():
+    """undeclare() can be called twice without error."""
+    from bubbaloop_sdk.subscriber import RawSubscriber
+
+    mock_sub = MagicMock()
+    mock_session = MagicMock()
+    mock_session.declare_subscriber.return_value = mock_sub
+
+    sub = RawSubscriber(mock_session, "test/topic")
+    sub.undeclare()
+    sub.undeclare()  # second call is a no-op
+    mock_sub.undeclare.assert_called_once()
+
+
+# ---------------------------------------------------------------------------
+# CallbackSubscriber(max_workers=4) / RawCallbackSubscriber(max_workers=4) — _closing flag
+# ---------------------------------------------------------------------------
+
+
+def test_callback_subscriber_with_workers_drops_after_undeclare():
+    """Callbacks arriving after undeclare() are silently dropped."""
+    from bubbaloop_sdk.subscriber import CallbackSubscriber
+
+    mock_session = MagicMock()
+    captured_handler = []
+
+    def fake_declare(topic, handler):
+        captured_handler.append(handler)
+        return MagicMock()
+
+    mock_session.declare_subscriber.side_effect = fake_declare
+    received = []
+    called = threading.Event()
+
+    def handler(msg):
+        received.append(msg)
+        called.set()
+
+    sub = CallbackSubscriber(mock_session, "test/topic", handler, MagicMock(), max_workers=4)
+    sub.undeclare()
+
+    # Simulate a late-arriving Zenoh callback after undeclare.
+    # _closing is already set so _wrap returns early — handler is never submitted.
+    fake_sample = MagicMock()
+    captured_handler[0](fake_sample)  # must not raise
+
+    # Give the executor no chance to run (it's shut down); assert immediately.
+    assert not called.wait(timeout=0.1), "handler should not be called after undeclare()"
+    assert received == []
+
+
+def test_raw_callback_subscriber_with_workers_drops_after_undeclare():
+    """Callbacks arriving after undeclare() are silently dropped."""
+    from bubbaloop_sdk.subscriber import RawCallbackSubscriber
+
+    mock_session = MagicMock()
+    captured_handler = []
+
+    def fake_declare(key_expr, handler):
+        captured_handler.append(handler)
+        return MagicMock()
+
+    mock_session.declare_subscriber.side_effect = fake_declare
+    received = []
+    called = threading.Event()
+
+    def handler(sample):
+        received.append(sample)
+        called.set()
+
+    sub = RawCallbackSubscriber(mock_session, "test/**", handler, max_workers=4)
+    sub.undeclare()
+
+    fake_sample = MagicMock()
+    captured_handler[0](fake_sample)  # must not raise
+
+    assert not called.wait(timeout=0.1), "handler should not be called after undeclare()"
+    assert received == []
+
+
+def test_async_queryable_drops_after_undeclare():
+    """Queries arriving after undeclare() are silently dropped (thread pool mode)."""
+    from bubbaloop_sdk.subscriber import Queryable
+
+    mock_session = MagicMock()
+    captured_wrapper = []
+
+    def fake_declare(key_expr, wrapper):
+        captured_wrapper.append(wrapper)
+        return MagicMock()
+
+    mock_session.declare_queryable.side_effect = fake_declare
+    received = []
+    called = threading.Event()
+
+    def handler(query):
+        received.append(query)
+        called.set()
+
+    aq = Queryable(mock_session, "test/topic", handler, max_workers=4)
+    aq.undeclare()
+
+    fake_query = MagicMock()
+    captured_wrapper[0](fake_query)  # must not raise
+
+    assert not called.wait(timeout=0.1), "handler should not be called after undeclare()"
+    assert received == []
+
+
+# ---------------------------------------------------------------------------
+# CallbackSubscriber
+# ---------------------------------------------------------------------------
+
+
+def test_callback_subscriber_calls_handler_with_decoded():
+    """Handler receives whatever registry.decode() returns."""
+    from bubbaloop_sdk.subscriber import CallbackSubscriber
+
+    mock_session = MagicMock()
+    captured_handler = []
+
+    def fake_declare(topic, handler):
+        captured_handler.append(handler)
+        return MagicMock()
+
+    mock_session.declare_subscriber.side_effect = fake_declare
+
+    mock_registry = MagicMock()
+    mock_registry.decode.return_value = {"temperature": 22.5}
+
+    received = []
+    sub = CallbackSubscriber(mock_session, "test/topic", lambda msg: received.append(msg), mock_registry)
+
+    fake_sample = MagicMock()
+    captured_handler[0](fake_sample)
+
+    assert received == [{"temperature": 22.5}]
+    mock_registry.decode.assert_called_once_with(fake_sample)
+    sub.undeclare()
+
+
+def test_callback_subscriber_passes_sample_to_registry():
+    """CallbackSubscriber passes the zenoh.Sample to registry.decode()."""
+    from bubbaloop_sdk.subscriber import CallbackSubscriber
+
+    mock_session = MagicMock()
+    captured_handler = []
+
+    def fake_declare(topic, handler):
+        captured_handler.append(handler)
+        return MagicMock()
+
+    mock_session.declare_subscriber.side_effect = fake_declare
+
+    mock_registry = MagicMock()
+    mock_registry.decode.return_value = "decoded_proto"
+
+    received = []
+    sub = CallbackSubscriber(mock_session, "test/topic", lambda msg: received.append(msg), mock_registry)
+
+    fake_sample = MagicMock()
+    captured_handler[0](fake_sample)
+
+    assert received == ["decoded_proto"]
+    mock_registry.decode.assert_called_once_with(fake_sample)
+    sub.undeclare()
+
+
+def test_callback_subscriber_undeclare():
+    """undeclare() calls undeclare on the underlying zenoh subscriber."""
+    from bubbaloop_sdk.subscriber import CallbackSubscriber
+
+    mock_session = MagicMock()
+    mock_sub = MagicMock()
+    mock_session.declare_subscriber.return_value = mock_sub
+    sub = CallbackSubscriber(mock_session, "test/topic", lambda msg: None, MagicMock())
+    sub.undeclare()
+    mock_sub.undeclare.assert_called_once()
+
+
+# ---------------------------------------------------------------------------
+# RawCallbackSubscriber
+# ---------------------------------------------------------------------------
+
+
+def test_raw_callback_subscriber_passes_sample():
+    """Handler receives the raw zenoh.Sample object."""
+    from bubbaloop_sdk.subscriber import RawCallbackSubscriber
+
+    mock_session = MagicMock()
+    captured_handler = []
+
+    def fake_declare(key_expr, handler):
+        captured_handler.append(handler)
+        return MagicMock()
+
+    mock_session.declare_subscriber.side_effect = fake_declare
+    received = []
+    sub = RawCallbackSubscriber(mock_session, "test/**", lambda s: received.append(s))
+
+    fake_sample = MagicMock()
+    captured_handler[0](fake_sample)
+
+    assert received == [fake_sample]
+    sub.undeclare()
+
+
+def test_raw_callback_subscriber_undeclare():
+    """undeclare() calls undeclare on the underlying zenoh subscriber."""
+    from bubbaloop_sdk.subscriber import RawCallbackSubscriber
+
+    mock_session = MagicMock()
+    mock_sub = MagicMock()
+    mock_session.declare_subscriber.return_value = mock_sub
+    sub = RawCallbackSubscriber(mock_session, "test/**", lambda s: None)
+    sub.undeclare()
+    mock_sub.undeclare.assert_called_once()
+
+
+def test_callback_subscriber_undeclare_is_idempotent():
+    """undeclare() can be called twice without error."""
+    from bubbaloop_sdk.subscriber import CallbackSubscriber
+
+    mock_session = MagicMock()
+    mock_session.declare_subscriber.return_value = MagicMock()
+    sub = CallbackSubscriber(mock_session, "test/topic", lambda msg: None, MagicMock())
+    sub.undeclare()
+    sub.undeclare()  # second call is a no-op
+    mock_session.declare_subscriber.return_value.undeclare.assert_called_once()
+
+
+def test_callback_subscriber_with_workers_undeclare_is_idempotent():
+    """undeclare() can be called twice without error."""
+    from bubbaloop_sdk.subscriber import CallbackSubscriber
+
+    mock_session = MagicMock()
+    mock_sub = MagicMock()
+    mock_session.declare_subscriber.return_value = mock_sub
+    sub = CallbackSubscriber(mock_session, "test/topic", lambda msg: None, MagicMock(), max_workers=4)
+    sub.undeclare()
+    sub.undeclare()  # second call is a no-op
+    mock_sub.undeclare.assert_called_once()
+
+
+# ---------------------------------------------------------------------------
+# CallbackSubscriber with max_workers (thread pool mode)
+# ---------------------------------------------------------------------------
+
+
+def test_callback_subscriber_with_workers_calls_handler_in_thread_pool():
+    """Handler is called asynchronously via thread pool when max_workers is set."""
+    import threading
+
+    from bubbaloop_sdk.subscriber import CallbackSubscriber
+
+    mock_session = MagicMock()
+    captured_handler = []
+
+    def fake_declare(topic, handler):
+        captured_handler.append(handler)
+        return MagicMock()
+
+    mock_session.declare_subscriber.side_effect = fake_declare
+
+    mock_registry = MagicMock()
+    mock_registry.decode.return_value = b"\xca\xfe"
+
+    received = []
+    event = threading.Event()
+
+    def slow_handler(msg):
+        received.append(msg)
+        event.set()
+
+    sub = CallbackSubscriber(mock_session, "test/topic", slow_handler, mock_registry, max_workers=4)
+
+    fake_sample = MagicMock()
+    captured_handler[0](fake_sample)
+
+    assert event.wait(timeout=2.0), "handler was not called within 2s"
+    assert received == [b"\xca\xfe"]
+    sub.undeclare()
+
+
+def test_callback_subscriber_with_workers_passes_sample_to_registry():
+    """CallbackSubscriber with max_workers passes the zenoh.Sample to registry.decode()."""
+    import threading
+
+    from bubbaloop_sdk.subscriber import CallbackSubscriber
+
+    mock_session = MagicMock()
+    captured_handler = []
+
+    def fake_declare(topic, handler):
+        captured_handler.append(handler)
+        return MagicMock()
+
+    mock_session.declare_subscriber.side_effect = fake_declare
+
+    mock_registry = MagicMock()
+    mock_registry.decode.return_value = "decoded"
+    received = []
+    event = threading.Event()
+
+    def handler(msg):
+        received.append(msg)
+        event.set()
+
+    sub = CallbackSubscriber(mock_session, "test/topic", handler, mock_registry, max_workers=4)
+
+    fake_sample = MagicMock()
+    captured_handler[0](fake_sample)
+
+    assert event.wait(timeout=2.0)
+    assert received == ["decoded"]
+    mock_registry.decode.assert_called_once_with(fake_sample)
+    sub.undeclare()
+
+
+def test_raw_callback_subscriber_with_workers_passes_sample():
+    """RawCallbackSubscriber with max_workers handler receives raw zenoh.Sample."""
+    import threading
+
+    from bubbaloop_sdk.subscriber import RawCallbackSubscriber
+
+    mock_session = MagicMock()
+    captured_handler = []
+
+    def fake_declare(key_expr, handler):
+        captured_handler.append(handler)
+        return MagicMock()
+
+    mock_session.declare_subscriber.side_effect = fake_declare
+    received = []
+    event = threading.Event()
+
+    def handler(sample):
+        received.append(sample)
+        event.set()
+
+    sub = RawCallbackSubscriber(mock_session, "test/**", handler, max_workers=4)
+
+    fake_sample = MagicMock()
+    captured_handler[0](fake_sample)
+
+    assert event.wait(timeout=2.0)
+    assert received == [fake_sample]
+    sub.undeclare()
+
+
+def test_callback_subscriber_with_workers_undeclare():
+    """undeclare() shuts down executor and undeclares underlying sub."""
+    from bubbaloop_sdk.subscriber import CallbackSubscriber
+
+    mock_session = MagicMock()
+    mock_sub = MagicMock()
+    mock_session.declare_subscriber.return_value = mock_sub
+    sub = CallbackSubscriber(mock_session, "test/topic", lambda msg: None, MagicMock(), max_workers=4)
+    sub.undeclare()
+    mock_sub.undeclare.assert_called_once()
+
+
+def test_raw_callback_subscriber_with_workers_undeclare():
+    """undeclare() shuts down executor and undeclares underlying sub."""
+    from bubbaloop_sdk.subscriber import RawCallbackSubscriber
+
+    mock_session = MagicMock()
+    mock_sub = MagicMock()
+    mock_session.declare_subscriber.return_value = mock_sub
+    sub = RawCallbackSubscriber(mock_session, "test/**", lambda s: None, max_workers=4)
+    sub.undeclare()
+    mock_sub.undeclare.assert_called_once()
+
+
+# ---------------------------------------------------------------------------
+# NodeContext.queryable() and queryable_raw()
+# ---------------------------------------------------------------------------
+
+
+def test_queryable_uses_topic_prefix():
+    """queryable() declares at bubbaloop/global/{machine_id}/{suffix}."""
+    ctx = _make_context("bot")
+
+    def handler(q):
+        pass
+
+    qbl = ctx.queryable("command", handler)
+    try:
+        called_topic = ctx.session.declare_queryable.call_args[0][0]
+        assert called_topic == "bubbaloop/global/bot/command"
+    finally:
+        qbl.undeclare()
+
+
+def test_queryable_raw_uses_literal_key_expr():
+    """queryable_raw() declares at the literal key expression provided."""
+    ctx = _make_context("bot")
+
+    def handler(q):
+        pass
+
+    qbl = ctx.queryable_raw("bubbaloop/**/schema", handler)
+    try:
+        called_topic = ctx.session.declare_queryable.call_args[0][0]
+        assert called_topic == "bubbaloop/**/schema"
+    finally:
+        qbl.undeclare()
+
+
+def test_queryable_returns_async_queryable():
+    """queryable() returns Queryable."""
+    from bubbaloop_sdk.subscriber import Queryable
+
+    ctx = _make_context("bot")
+    result = ctx.queryable("command", lambda q: None)
+    try:
+        assert isinstance(result, Queryable)
+    finally:
+        result.undeclare()
+
+
+# ---------------------------------------------------------------------------
+# NodeContext.queryable(max_workers) and queryable_raw(max_workers)
+# ---------------------------------------------------------------------------
+
+
+def test_queryable_with_workers_uses_topic_prefix():
+    """queryable(max_workers=4) declares at topic(suffix)."""
+    ctx = _make_context("bot")
+
+    def handler(q):
+        pass
+
+    qbl = ctx.queryable("command", handler, max_workers=4)
+    try:
+        called_topic = ctx.session.declare_queryable.call_args[0][0]
+        assert called_topic == "bubbaloop/global/bot/command"
+    finally:
+        qbl.undeclare()
+
+
+def test_queryable_with_workers_wraps_handler_in_executor():
+    """queryable(max_workers=4) wraps handler so Zenoh thread is freed."""
+    import threading
+
+    ctx = _make_context("bot")
+    captured_wrapper = []
+
+    def fake_declare(topic, wrapper):
+        captured_wrapper.append(wrapper)
+        return MagicMock()
+
+    ctx.session.declare_queryable.side_effect = fake_declare
+
+    received = []
+    event = threading.Event()
+
+    def slow_handler(query):
+        received.append(query)
+        event.set()
+
+    qbl = ctx.queryable("command", slow_handler, max_workers=4)
+
+    try:
+        fake_query = MagicMock()
+        captured_wrapper[0](fake_query)  # Zenoh calls the wrapper
+
+        assert event.wait(timeout=2.0), "handler not called within 2s"
+        assert received == [fake_query]
+    finally:
+        qbl.undeclare()
+
+
+def test_queryable_with_workers_returns_async_queryable():
+    """queryable(max_workers=4) returns Queryable."""
+    from bubbaloop_sdk.subscriber import Queryable
+
+    ctx = _make_context("bot")
+    qbl = ctx.queryable("command", lambda q: None, max_workers=4)
+    try:
+        assert isinstance(qbl, Queryable)
+    finally:
+        qbl.undeclare()
+
+
+def test_queryable_raw_with_workers_uses_literal_key_expr():
+    """queryable_raw(max_workers=4) declares at the literal key expression."""
+    ctx = _make_context("bot")
+    qbl = ctx.queryable_raw("bubbaloop/**/schema", lambda q: None, max_workers=4)
+    try:
+        called_topic = ctx.session.declare_queryable.call_args[0][0]
+        assert called_topic == "bubbaloop/**/schema"
+    finally:
+        qbl.undeclare()
+
+
+def test_queryable_raw_with_workers_wraps_handler_in_executor():
+    """queryable_raw(max_workers=4) wraps handler in thread pool."""
+    import threading
+
+    ctx = _make_context("bot")
+    captured_wrapper = []
+
+    def fake_declare(key_expr, wrapper):
+        captured_wrapper.append(wrapper)
+        return MagicMock()
+
+    ctx.session.declare_queryable.side_effect = fake_declare
+
+    received = []
+    event = threading.Event()
+
+    def handler(query):
+        received.append(query)
+        event.set()
+
+    qbl = ctx.queryable_raw("bubbaloop/**/schema", handler, max_workers=4)
+
+    try:
+        fake_query = MagicMock()
+        captured_wrapper[0](fake_query)
+
+        assert event.wait(timeout=2.0), "handler not called within 2s"
+        assert received == [fake_query]
+    finally:
+        qbl.undeclare()
+
+
+def test_async_queryable_undeclare():
+    """Queryable.undeclare() undeclares queryable then shuts executor."""
+    from bubbaloop_sdk.subscriber import Queryable
+
+    mock_session = MagicMock()
+    mock_qbl = MagicMock()
+    mock_session.declare_queryable.return_value = mock_qbl
+    aq = Queryable(mock_session, "test/topic", lambda q: None)
+    aq.undeclare()
+    mock_qbl.undeclare.assert_called_once()
+
+
+# ---------------------------------------------------------------------------
+# NodeContext.subscriber_callback()
+# ---------------------------------------------------------------------------
+
+
+def test_subscriber_callback_uses_topic_prefix():
+    """subscriber_callback() declares at topic(suffix)."""
+    ctx = _make_context("bot")
+    ctx._schema_registry = MagicMock()
+    ctx.subscriber_callback("sensor/data", lambda msg: None)
+    called_topic = ctx.session.declare_subscriber.call_args[0][0]
+    assert called_topic == "bubbaloop/global/bot/sensor/data"
+
+
+def test_subscriber_raw_callback_uses_literal_key_expr():
+    """subscriber_raw_callback() declares at the literal key expression."""
+    ctx = _make_context("bot")
+    ctx.subscriber_raw_callback("bubbaloop/**/health", lambda s: None)
+    called_topic = ctx.session.declare_subscriber.call_args[0][0]
+    assert called_topic == "bubbaloop/**/health"
+
+
+def test_subscriber_callback_with_workers_uses_topic_prefix():
+    """subscriber_callback() with max_workers declares at topic(suffix)."""
+    ctx = _make_context("bot")
+    ctx._schema_registry = MagicMock()
+    sub = ctx.subscriber_callback("sensor/data", lambda msg: None, max_workers=4)
+    try:
+        called_topic = ctx.session.declare_subscriber.call_args[0][0]
+        assert called_topic == "bubbaloop/global/bot/sensor/data"
+    finally:
+        sub.undeclare()
+
+
+def test_subscriber_raw_callback_with_workers_uses_literal_key_expr():
+    """subscriber_raw_callback() with max_workers declares at literal key expression."""
+    ctx = _make_context("bot")
+    sub = ctx.subscriber_raw_callback("bubbaloop/**/health", lambda s: None, max_workers=4)
+    try:
+        called_topic = ctx.session.declare_subscriber.call_args[0][0]
+        assert called_topic == "bubbaloop/**/health"
+    finally:
+        sub.undeclare()
+
+
+# ---------------------------------------------------------------------------
+# NodeContext.publisher_json() / publisher_proto() via context
+# ---------------------------------------------------------------------------
+
+
+def test_publisher_json_uses_topic_prefix():
+    """publisher_json() declares at topic(suffix)."""
+    ctx = _make_context("bot")
+    ctx.publisher_json("weather/current")
+    called_topic = ctx.session.declare_publisher.call_args[0][0]
+    assert called_topic == "bubbaloop/global/bot/weather/current"
+
+
+def test_publisher_proto_uses_topic_prefix():
+    """publisher_proto() declares at topic(suffix)."""
+    ctx = _make_context("bot")
+    fake_class = MagicMock()
+    fake_class.DESCRIPTOR.full_name = "my.SensorData"
+    ctx.publisher_proto("sensor/data", fake_class)
+    called_topic = ctx.session.declare_publisher.call_args[0][0]
+    assert called_topic == "bubbaloop/global/bot/sensor/data"
+
+
+# ---------------------------------------------------------------------------
+# NodeContext.close() and context manager
+# ---------------------------------------------------------------------------
+
+
+def test_close_calls_session_close():
+    """close() calls session.close()."""
+    ctx = _make_context("bot")
+    ctx.close()
+    ctx.session.close.assert_called_once()
+
+
+def test_context_manager_calls_close():
+    """__exit__ calls close() so the session is always cleaned up."""
+    ctx = _make_context("bot")
+    with ctx:
+        pass
+    ctx.session.close.assert_called_once()
+
+
+# ---------------------------------------------------------------------------
+# NodeContext.connect() — env var resolution
+# ---------------------------------------------------------------------------
+
+
+def test_connect_reads_machine_id_from_env(monkeypatch):
+    """BUBBALOOP_MACHINE_ID env var sets ctx.machine_id."""
+    import zenoh
+
+    monkeypatch.setenv("BUBBALOOP_MACHINE_ID", "jetson_orin")
+
+    monkeypatch.delenv("BUBBALOOP_ZENOH_ENDPOINT", raising=False)
+    monkeypatch.setattr(zenoh, "open", lambda cfg: MagicMock())
+    monkeypatch.setattr(zenoh, "Config", MagicMock)
+    from bubbaloop_sdk.context import NodeContext
+
+    ctx = NodeContext.connect()
+    assert ctx.machine_id == "jetson_orin"
+
+
+def test_connect_instance_name_override(monkeypatch):
+    """instance_name kwarg overrides hostname fallback."""
+    import zenoh
+
+    monkeypatch.delenv("BUBBALOOP_MACHINE_ID", raising=False)
+
+    monkeypatch.delenv("BUBBALOOP_ZENOH_ENDPOINT", raising=False)
+    monkeypatch.setattr(zenoh, "open", lambda cfg: MagicMock())
+    monkeypatch.setattr(zenoh, "Config", MagicMock)
+    from bubbaloop_sdk.context import NodeContext
+
+    ctx = NodeContext.connect(instance_name="tapo_entrance")
+    assert ctx.instance_name == "tapo_entrance"
+
+
+# ---------------------------------------------------------------------------
+# RawSubscriber — undeclare() and iteration
+# ---------------------------------------------------------------------------
+
+
+def test_raw_subscriber_undeclare():
+    """undeclare() calls undeclare on the underlying zenoh subscriber."""
+    from bubbaloop_sdk.subscriber import RawSubscriber
+
+    mock_session = MagicMock()
+    mock_sub = MagicMock()
+    mock_session.declare_subscriber.return_value = mock_sub
+    sub = RawSubscriber(mock_session, "test/topic")
+    sub.undeclare()
+    mock_sub.undeclare.assert_called_once()
+
+
+def test_raw_subscriber_declares_on_topic():
+    """RawSubscriber declares a zenoh subscriber on the given topic."""
+    from bubbaloop_sdk.subscriber import RawSubscriber
+
+    mock_session = MagicMock()
+    mock_session.declare_subscriber.return_value = MagicMock()
+    RawSubscriber(mock_session, "test/topic")
+    mock_session.declare_subscriber.assert_called_once_with("test/topic")
+
+
 # ---------------------------------------------------------------------------
 # RawPublisher.put()
 # ---------------------------------------------------------------------------
 
+
 def test_raw_publisher_puts_bytes():
     from bubbaloop_sdk.publisher import RawPublisher
+
     mock_pub = MagicMock()
     RawPublisher(mock_pub).put(b"\x00\x01\x02")
     mock_pub.put.assert_called_once_with(b"\x00\x01\x02")
@@ -178,6 +922,7 @@ def test_raw_publisher_puts_bytes():
 
 def test_raw_publisher_converts_bytearray():
     from bubbaloop_sdk.publisher import RawPublisher
+
     mock_pub = MagicMock()
     RawPublisher(mock_pub).put(bytearray([0xFF, 0xFE]))
     mock_pub.put.assert_called_once_with(b"\xff\xfe")
@@ -187,23 +932,28 @@ def test_raw_publisher_converts_bytearray():
 # Import surface (new exports)
 # ---------------------------------------------------------------------------
 
+
 def test_import_raw_publisher():
     from bubbaloop_sdk import RawPublisher
+
     assert RawPublisher is not None
 
 
 def test_import_proto_decoder():
     from bubbaloop_sdk import ProtoDecoder
+
     assert ProtoDecoder is not None
 
 
 def test_import_discover_nodes():
     from bubbaloop_sdk import discover_nodes
+
     assert callable(discover_nodes)
 
 
 def test_import_get_sample():
-    from bubbaloop_sdk import get_sample, GetSampleTimeout
+    from bubbaloop_sdk import GetSampleTimeout, get_sample
+
     assert callable(get_sample)
     assert GetSampleTimeout is not None
 
@@ -212,8 +962,10 @@ def test_import_get_sample():
 # Helper
 # ---------------------------------------------------------------------------
 
+
 def _make_context(machine_id: str):
     from bubbaloop_sdk.context import NodeContext
+
     ctx = object.__new__(NodeContext)
     ctx.session = MagicMock()
     ctx.machine_id = machine_id