diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
new file mode 100644
index 000000000..b8a13d880
--- /dev/null
+++ b/.github/workflows/build-check.yaml
@@ -0,0 +1,54 @@
+#
+# Copyright (c) 2022 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+#
+name: build-check
+
+on:
+  push:
+    branches: [ '**' ]
+  pull_request:
+    branches: [ '**' ]
+
+jobs:
+  modular_build:
+    name: Modular build on ubuntu-latest
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        feature_publication: [1, 0]
+        feature_subscription: [1, 0]
+        feature_queryable: [1, 0]
+        feature_query: [1, 0]
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    - name: Run docker image
+      run: docker run --name zenoh_router --init --net host -d eclipse/zenoh:master
+
+    - name: Build project
+      run: |
+        make all
+        python3 ./build/tests/modularity.py --pub $Z_FEATURE_PUBLICATION --sub $Z_FEATURE_SUBSCRIPTION --queryable $Z_FEATURE_QUERYABLE --query $Z_FEATURE_QUERY
+      timeout-minutes: 5
+      env:
+        Z_FEATURE_PUBLICATION: ${{ matrix.feature_publication }}
+        Z_FEATURE_SUBSCRIPTION: ${{ matrix.feature_subscription }}
+        Z_FEATURE_QUERYABLE: ${{ matrix.feature_queryable }}
+        Z_FEATURE_QUERY: ${{ matrix.feature_query }}
+    
+    - name: Stop docker image
+      if: always()
+      run: |
+        docker stop zenoh_router
+        docker rm zenoh_router
\ No newline at end of file
diff --git a/.github/workflows/build-shared.yaml b/.github/workflows/build-shared.yaml
index 055524f04..a5b6d2a52 100644
--- a/.github/workflows/build-shared.yaml
+++ b/.github/workflows/build-shared.yaml
@@ -50,4 +50,4 @@ jobs:
       env:
         BUILD_TYPE: Debug
         BUILD_SHARED_LIBS: ON
-        ZENOH_DEBUG: 3
+        ZENOH_DEBUG: 3
\ No newline at end of file
diff --git a/.github/workflows/freertos_plus_tcp.yaml b/.github/workflows/freertos_plus_tcp.yaml
index 1e8ee0fe7..65231e75f 100644
--- a/.github/workflows/freertos_plus_tcp.yaml
+++ b/.github/workflows/freertos_plus_tcp.yaml
@@ -40,3 +40,8 @@ jobs:
         cmake -Bbuild -G"Ninja Multi-Config"
         cmake --build ./build --config Debug
         cmake --build ./build --config Release
+      env:
+        Z_FEATURE_PUBLICATION: 1
+        Z_FEATURE_SUBSCRIPTION: 1
+        Z_FEATURE_QUERYABLE: 1
+        Z_FEATURE_QUERY: 1
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2838ec142..3d562f411 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -102,6 +102,21 @@ endif()
 
 add_definition(ZENOH_DEBUG=${ZENOH_DEBUG})
 
+# Zenoh pico feature configuration options
+option(Z_FEATURE_PUBLICATION "Toggle publication feature" 1)
+option(Z_FEATURE_SUBSCRIPTION "Toggle subscription feature" 1)
+option(Z_FEATURE_QUERY "Toggle query feature" 1)
+option(Z_FEATURE_QUERYABLE "Toggle queryable feature" 1)
+add_definition(Z_FEATURE_PUBLICATION=${Z_FEATURE_PUBLICATION})
+add_definition(Z_FEATURE_SUBSCRIPTION=${Z_FEATURE_SUBSCRIPTION})
+add_definition(Z_FEATURE_QUERY=${Z_FEATURE_QUERY})
+add_definition(Z_FEATURE_QUERYABLE=${Z_FEATURE_QUERYABLE})
+message(STATUS "Building with feature confing:\n\
+* PUBLICATION: ${Z_FEATURE_PUBLICATION}\n\
+* SUBSCRIPTION: ${Z_FEATURE_SUBSCRIPTION}\n\
+* QUERY: ${Z_FEATURE_QUERY}\n\
+* QUERYABLE: ${Z_FEATURE_QUERYABLE}")
+
 # Print summary of CMAKE configurations
 message(STATUS "Building in ${CMAKE_BUILD_TYPE} mode")
 message(STATUS "Build shared library: ${BUILD_SHARED_LIBS}")
@@ -284,6 +299,8 @@ if(UNIX OR MSVC)
     target_link_libraries(z_api_null_drop_test ${Libname})
     target_link_libraries(z_api_double_drop_test ${Libname})
 
+    configure_file(${PROJECT_SOURCE_DIR}/tests/modularity.py ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/modularity.py COPYONLY)
+
     enable_testing()
     add_test(z_data_struct_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_data_struct_test)
     add_test(z_endpoint_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_endpoint_test)
diff --git a/GNUmakefile b/GNUmakefile
index cf4512a1b..67932a3bc 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -45,6 +45,13 @@ BUILD_TOOLS?=OFF
 #  3: DEBUG + INFO + ERROR
 ZENOH_DEBUG?=0
 
+# Feature config toggle
+# Accepted values: 0, 1
+Z_FEATURE_PUBLICATION?=1
+Z_FEATURE_SUBSCRIPTION?=1
+Z_FEATURE_QUERY?=1
+Z_FEATURE_QUERYABLE?=1
+
 # zenoh-pico/ directory
 ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
 
@@ -58,7 +65,9 @@ CROSSIMG_PREFIX=zenoh-pico_
 # NOTES:
 # - ARM:   old versions of dockcross/dockcross were creating some issues since they used an old GCC (4.8.3) which lacks <stdatomic.h> (even using -std=gnu11)
 
-CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DBUILD_TESTING=$(BUILD_TESTING) -DBUILD_MULTICAST=$(BUILD_MULTICAST) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
+CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DBUILD_TESTING=$(BUILD_TESTING) -DBUILD_MULTICAST=$(BUILD_MULTICAST)\
+ -DZ_FEATURE_PUBLICATION=$(Z_FEATURE_PUBLICATION) -DZ_FEATURE_SUBSCRIPTION=$(Z_FEATURE_SUBSCRIPTION) -DZ_FEATURE_QUERY=$(Z_FEATURE_QUERY) -DZ_FEATURE_QUERYABLE=$(Z_FEATURE_QUERYABLE)\
+ -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
 
 all: make
 
diff --git a/examples/freertos_plus_tcp/include/FreeRTOSConfig.h b/examples/freertos_plus_tcp/include/FreeRTOSConfig.h
index cbd027ce3..faeb5bbd5 100644
--- a/examples/freertos_plus_tcp/include/FreeRTOSConfig.h
+++ b/examples/freertos_plus_tcp/include/FreeRTOSConfig.h
@@ -20,7 +20,7 @@
 #define configUSE_PREEMPTION 1
 #define configTICK_RATE_HZ ((TickType_t)1000)
 #define configMAX_PRIORITIES (56)
-#define configMINIMAL_STACK_SIZE ((uint16_t) PTHREAD_STACK_MIN)
+#define configMINIMAL_STACK_SIZE ((uint16_t)PTHREAD_STACK_MIN)
 #define configMAX_TASK_NAME_LEN (16)
 #define configUSE_16_BIT_TICKS 0
 #define configQUEUE_REGISTRY_SIZE 0
diff --git a/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h b/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
index 2070ad000..430e92b4d 100644
--- a/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
+++ b/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
@@ -48,7 +48,7 @@
 
 // Set ipconfigBUFFER_PADDING on 64-bit platforms
 #if INTPTR_MAX == INT64_MAX
-    #define ipconfigBUFFER_PADDING 14U
+#define ipconfigBUFFER_PADDING 14U
 #endif
 
 #endif /* FREERTOS_IP_CONFIG_H */
\ No newline at end of file
diff --git a/examples/freertos_plus_tcp/z_get.c b/examples/freertos_plus_tcp/z_get.c
index 8a0f74b4f..3a95518c1 100644
--- a/examples/freertos_plus_tcp/z_get.c
+++ b/examples/freertos_plus_tcp/z_get.c
@@ -16,6 +16,7 @@
 
 #include "FreeRTOS.h"
 
+#if Z_FEATURE_QUERY == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -47,7 +48,7 @@ void reply_handler(z_owned_reply_t *reply, void *ctx) {
     }
 }
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -92,4 +93,9 @@ void app_main() {
     zp_stop_lease_task(z_loan(s));
 
     z_close(z_move(s));
-}
\ No newline at end of file
+}
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
+}
+#endif
\ No newline at end of file
diff --git a/examples/freertos_plus_tcp/z_pub.c b/examples/freertos_plus_tcp/z_pub.c
index 969202074..f53a786da 100644
--- a/examples/freertos_plus_tcp/z_pub.c
+++ b/examples/freertos_plus_tcp/z_pub.c
@@ -16,6 +16,7 @@
 
 #include "FreeRTOS.h"
 
+#if Z_FEATURE_PUBLICATION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -30,7 +31,7 @@
 #define KEYEXPR "demo/example/zenoh-pico-pub"
 #define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -104,3 +105,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+}
+#endif
diff --git a/examples/freertos_plus_tcp/z_pub_st.c b/examples/freertos_plus_tcp/z_pub_st.c
index f31516b72..03311e25c 100644
--- a/examples/freertos_plus_tcp/z_pub_st.c
+++ b/examples/freertos_plus_tcp/z_pub_st.c
@@ -16,6 +16,7 @@
 
 #include "FreeRTOS.h"
 
+#if Z_FEATURE_PUBLICATION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -30,7 +31,7 @@
 #define KEYEXPR "demo/example/zenoh-pico-pub"
 #define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -72,3 +73,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+}
+#endif
diff --git a/examples/freertos_plus_tcp/z_pull.c b/examples/freertos_plus_tcp/z_pull.c
index b6d5d84f8..601bfe720 100644
--- a/examples/freertos_plus_tcp/z_pull.c
+++ b/examples/freertos_plus_tcp/z_pull.c
@@ -14,6 +14,7 @@
 
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_PUBLICATION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -35,7 +36,7 @@ void data_handler(const z_sample_t *sample, void *ctx) {
     z_drop(z_move(keystr));
 }
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_config_loan(&config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -77,3 +78,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+}
+#endif
diff --git a/examples/freertos_plus_tcp/z_put.c b/examples/freertos_plus_tcp/z_put.c
index f8913146d..43c6a4975 100644
--- a/examples/freertos_plus_tcp/z_put.c
+++ b/examples/freertos_plus_tcp/z_put.c
@@ -14,6 +14,7 @@
 
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_PUBLICATION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -28,7 +29,7 @@
 #define KEYEXPR "demo/example/zenoh-pico-put"
 #define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -74,3 +75,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+}
+#endif
diff --git a/examples/freertos_plus_tcp/z_queryable.c b/examples/freertos_plus_tcp/z_queryable.c
index 1a9f19514..de60b9c53 100644
--- a/examples/freertos_plus_tcp/z_queryable.c
+++ b/examples/freertos_plus_tcp/z_queryable.c
@@ -14,6 +14,7 @@
 
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_QUERYABLE == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -43,7 +44,7 @@ void query_handler(const z_query_t *query, void *ctx) {
     z_drop(z_move(keystr));
 }
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -89,3 +90,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
+}
+#endif
\ No newline at end of file
diff --git a/examples/freertos_plus_tcp/z_scout.c b/examples/freertos_plus_tcp/z_scout.c
index c73785779..0f3087eee 100644
--- a/examples/freertos_plus_tcp/z_scout.c
+++ b/examples/freertos_plus_tcp/z_scout.c
@@ -82,7 +82,7 @@ void drop(void *context) {
     }
 }
 
-void app_main() {
+void app_main(void) {
     int *context = (int *)pvPortMalloc(sizeof(int));
     *context = 0;
     z_owned_scouting_config_t config = z_scouting_config_default();
diff --git a/examples/freertos_plus_tcp/z_sub.c b/examples/freertos_plus_tcp/z_sub.c
index 62e39ba59..7f403d58a 100644
--- a/examples/freertos_plus_tcp/z_sub.c
+++ b/examples/freertos_plus_tcp/z_sub.c
@@ -14,6 +14,7 @@
 
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -35,7 +36,7 @@ void data_handler(const z_sample_t *sample, void *ctx) {
     z_drop(z_move(keystr));
 }
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -75,3 +76,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
+}
+#endif
diff --git a/examples/freertos_plus_tcp/z_sub_st.c b/examples/freertos_plus_tcp/z_sub_st.c
index b051ed467..811a49877 100644
--- a/examples/freertos_plus_tcp/z_sub_st.c
+++ b/examples/freertos_plus_tcp/z_sub_st.c
@@ -14,6 +14,7 @@
 
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -35,7 +36,7 @@ void data_handler(const z_sample_t *sample, void *ctx) {
     z_drop(z_move(keystr));
 }
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -67,3 +68,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
+}
+#endif
diff --git a/examples/mbed/z_get.cpp b/examples/mbed/z_get.cpp
index 39ea2c5fd..283dd8f43 100644
--- a/examples/mbed/z_get.cpp
+++ b/examples/mbed/z_get.cpp
@@ -98,6 +98,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/mbed/z_pub.cpp b/examples/mbed/z_pub.cpp
index b51127a37..309cb3d7b 100644
--- a/examples/mbed/z_pub.cpp
+++ b/examples/mbed/z_pub.cpp
@@ -89,6 +89,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/mbed/z_pull.cpp b/examples/mbed/z_pull.cpp
index 8a5e0522c..c54c83ad6 100644
--- a/examples/mbed/z_pull.cpp
+++ b/examples/mbed/z_pull.cpp
@@ -95,6 +95,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/mbed/z_queryable.cpp b/examples/mbed/z_queryable.cpp
index 5a0dd4901..fa8b8046b 100644
--- a/examples/mbed/z_queryable.cpp
+++ b/examples/mbed/z_queryable.cpp
@@ -98,6 +98,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/mbed/z_sub.cpp b/examples/mbed/z_sub.cpp
index 27297b1c8..51699f9ca 100644
--- a/examples/mbed/z_sub.cpp
+++ b/examples/mbed/z_sub.cpp
@@ -93,6 +93,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c11/z_get.c b/examples/unix/c11/z_get.c
index 6c47a550b..b72ea0e9f 100644
--- a/examples/unix/c11/z_get.c
+++ b/examples/unix/c11/z_get.c
@@ -133,6 +133,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c11/z_ping.c b/examples/unix/c11/z_ping.c
index af13efb2a..379ff6dcf 100644
--- a/examples/unix/c11/z_ping.c
+++ b/examples/unix/c11/z_ping.c
@@ -177,6 +177,6 @@ int main(void) {
     printf(
         "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION or Z_FEATURE_PUBLICATION but this example "
         "requires them.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c11/z_pong.c b/examples/unix/c11/z_pong.c
index 0a9ee2d26..6202b38b1 100644
--- a/examples/unix/c11/z_pong.c
+++ b/examples/unix/c11/z_pong.c
@@ -74,6 +74,6 @@ int main(void) {
     printf(
         "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION or Z_FEATURE_PUBLICATION but this example "
         "requires them.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c11/z_pub.c b/examples/unix/c11/z_pub.c
index 35df1383d..f6f9e6bd5 100644
--- a/examples/unix/c11/z_pub.c
+++ b/examples/unix/c11/z_pub.c
@@ -121,6 +121,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
diff --git a/examples/unix/c11/z_pub_st.c b/examples/unix/c11/z_pub_st.c
index 7dda9936e..ae152104b 100644
--- a/examples/unix/c11/z_pub_st.c
+++ b/examples/unix/c11/z_pub_st.c
@@ -107,6 +107,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c11/z_pull.c b/examples/unix/c11/z_pull.c
index cc8297a29..4ed568f76 100644
--- a/examples/unix/c11/z_pull.c
+++ b/examples/unix/c11/z_pull.c
@@ -102,6 +102,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c11/z_put.c b/examples/unix/c11/z_put.c
index 557a128a5..70838a062 100644
--- a/examples/unix/c11/z_put.c
+++ b/examples/unix/c11/z_put.c
@@ -105,6 +105,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c11/z_queryable.c b/examples/unix/c11/z_queryable.c
index 01a04410b..92f13c652 100644
--- a/examples/unix/c11/z_queryable.c
+++ b/examples/unix/c11/z_queryable.c
@@ -128,6 +128,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c11/z_sub.c b/examples/unix/c11/z_sub.c
index 77fdb29a8..0f1d07c6f 100644
--- a/examples/unix/c11/z_sub.c
+++ b/examples/unix/c11/z_sub.c
@@ -111,6 +111,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c11/z_sub_st.c b/examples/unix/c11/z_sub_st.c
index d6ee0966f..a95e93188 100644
--- a/examples/unix/c11/z_sub_st.c
+++ b/examples/unix/c11/z_sub_st.c
@@ -100,6 +100,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c99/z_get.c b/examples/unix/c99/z_get.c
index 7b45b13f7..766cca309 100644
--- a/examples/unix/c99/z_get.c
+++ b/examples/unix/c99/z_get.c
@@ -133,6 +133,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c99/z_ping.c b/examples/unix/c99/z_ping.c
index 94fe42424..6528bfdd7 100644
--- a/examples/unix/c99/z_ping.c
+++ b/examples/unix/c99/z_ping.c
@@ -177,6 +177,6 @@ int main(void) {
     printf(
         "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION or Z_FEATURE_PUBLICATION but this example "
         "requires them.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c99/z_pong.c b/examples/unix/c99/z_pong.c
index b175c49b0..2614f7bc9 100644
--- a/examples/unix/c99/z_pong.c
+++ b/examples/unix/c99/z_pong.c
@@ -84,6 +84,6 @@ int main(void) {
     printf(
         "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION or Z_FEATURE_PUBLICATION but this example "
         "requires them.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c99/z_pub.c b/examples/unix/c99/z_pub.c
index 0e0c22f1f..a1c12adda 100644
--- a/examples/unix/c99/z_pub.c
+++ b/examples/unix/c99/z_pub.c
@@ -110,6 +110,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c99/z_pub_st.c b/examples/unix/c99/z_pub_st.c
index 237a892d9..07680e557 100644
--- a/examples/unix/c99/z_pub_st.c
+++ b/examples/unix/c99/z_pub_st.c
@@ -107,6 +107,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c99/z_pull.c b/examples/unix/c99/z_pull.c
index 88361ff27..c2a1ecd2f 100644
--- a/examples/unix/c99/z_pull.c
+++ b/examples/unix/c99/z_pull.c
@@ -103,6 +103,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c99/z_put.c b/examples/unix/c99/z_put.c
index 20d13fb11..15273aecd 100644
--- a/examples/unix/c99/z_put.c
+++ b/examples/unix/c99/z_put.c
@@ -105,6 +105,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c99/z_queryable.c b/examples/unix/c99/z_queryable.c
index 8c8539bfe..f5093d370 100644
--- a/examples/unix/c99/z_queryable.c
+++ b/examples/unix/c99/z_queryable.c
@@ -124,6 +124,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c99/z_sub.c b/examples/unix/c99/z_sub.c
index 7cb1d2354..2a1cd2aee 100644
--- a/examples/unix/c99/z_sub.c
+++ b/examples/unix/c99/z_sub.c
@@ -112,6 +112,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/unix/c99/z_sub_st.c b/examples/unix/c99/z_sub_st.c
index 37c7d48cc..6b3c8728f 100644
--- a/examples/unix/c99/z_sub_st.c
+++ b/examples/unix/c99/z_sub_st.c
@@ -101,6 +101,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/windows/z_get.c b/examples/windows/z_get.c
index 0d082a63e..e89c2f3f3 100644
--- a/examples/windows/z_get.c
+++ b/examples/windows/z_get.c
@@ -98,6 +98,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/windows/z_ping.c b/examples/windows/z_ping.c
index f1a218386..6a0a3cb82 100644
--- a/examples/windows/z_ping.c
+++ b/examples/windows/z_ping.c
@@ -174,6 +174,6 @@ int main(void) {
     printf(
         "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION or Z_FEATURE_PUBLICATION but this example "
         "requires them.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/windows/z_pong.c b/examples/windows/z_pong.c
index 0a9ee2d26..6202b38b1 100644
--- a/examples/windows/z_pong.c
+++ b/examples/windows/z_pong.c
@@ -74,6 +74,6 @@ int main(void) {
     printf(
         "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION or Z_FEATURE_PUBLICATION but this example "
         "requires them.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/windows/z_pub.c b/examples/windows/z_pub.c
index aecc29806..89c542ad4 100644
--- a/examples/windows/z_pub.c
+++ b/examples/windows/z_pub.c
@@ -78,6 +78,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
diff --git a/examples/windows/z_pub_st.c b/examples/windows/z_pub_st.c
index 4623098ae..caa342504 100644
--- a/examples/windows/z_pub_st.c
+++ b/examples/windows/z_pub_st.c
@@ -74,6 +74,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/windows/z_pull.c b/examples/windows/z_pull.c
index efaa7676e..3c31de4be 100644
--- a/examples/windows/z_pull.c
+++ b/examples/windows/z_pull.c
@@ -82,6 +82,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/windows/z_put.c b/examples/windows/z_put.c
index dff826725..ca89e386c 100644
--- a/examples/windows/z_put.c
+++ b/examples/windows/z_put.c
@@ -72,6 +72,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/windows/z_queryable.c b/examples/windows/z_queryable.c
index 8fafa11d9..ef166b73a 100644
--- a/examples/windows/z_queryable.c
+++ b/examples/windows/z_queryable.c
@@ -93,6 +93,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/windows/z_sub.c b/examples/windows/z_sub.c
index e46e1fbcb..afe3b4785 100644
--- a/examples/windows/z_sub.c
+++ b/examples/windows/z_sub.c
@@ -81,6 +81,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/windows/z_sub_st.c b/examples/windows/z_sub_st.c
index d34a2d17f..fb808e1ea 100644
--- a/examples/windows/z_sub_st.c
+++ b/examples/windows/z_sub_st.c
@@ -70,6 +70,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/zephyr/z_get.c b/examples/zephyr/z_get.c
index 279bd69a5..08a1ccb17 100644
--- a/examples/zephyr/z_get.c
+++ b/examples/zephyr/z_get.c
@@ -92,6 +92,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/zephyr/z_pub.c b/examples/zephyr/z_pub.c
index 09623fd49..4bfd33d88 100644
--- a/examples/zephyr/z_pub.c
+++ b/examples/zephyr/z_pub.c
@@ -86,6 +86,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/zephyr/z_pull.c b/examples/zephyr/z_pull.c
index 7b3522529..e2906063f 100644
--- a/examples/zephyr/z_pull.c
+++ b/examples/zephyr/z_pull.c
@@ -89,6 +89,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/examples/zephyr/z_queryable.c b/examples/zephyr/z_queryable.c
index 154075dfa..b92be70c1 100644
--- a/examples/zephyr/z_queryable.c
+++ b/examples/zephyr/z_queryable.c
@@ -16,6 +16,7 @@
 #include <string.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_QUERYABLE == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -89,3 +90,9 @@ int main(int argc, char **argv) {
 
     return 0;
 }
+#else
+int main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
+    return -2;
+}
+#endif
\ No newline at end of file
diff --git a/examples/zephyr/z_sub.c b/examples/zephyr/z_sub.c
index 4f1831154..0293954ef 100644
--- a/examples/zephyr/z_sub.c
+++ b/examples/zephyr/z_sub.c
@@ -87,6 +87,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif
\ No newline at end of file
diff --git a/include/zenoh-pico/config.h b/include/zenoh-pico/config.h
index 3d55a7edd..fc7fe5f97 100644
--- a/include/zenoh-pico/config.h
+++ b/include/zenoh-pico/config.h
@@ -103,6 +103,7 @@
 #define Z_CONFIG_ADD_TIMESTAMP_DEFAULT "false"
 
 /*------------------ Compile-time feature configuration ------------------*/
+// WARNING: Default values may always be overridden by CMake/make values
 
 /**
  * Enable multi-thread support.
diff --git a/tests/modularity.py b/tests/modularity.py
new file mode 100644
index 000000000..44c66d8e5
--- /dev/null
+++ b/tests/modularity.py
@@ -0,0 +1,275 @@
+import argparse
+import subprocess
+import sys
+import time
+
+# Specify the directory for the binaries
+DIR_EXAMPLES = "build/examples"
+
+def pub_and_sub(args):
+    print("*** Pub & sub test ***")
+    test_status = 0
+
+    # Expected z_pub output & status
+    if args.pub == 1:
+        z_pub_expected_status = 0
+        z_pub_expected_output = '''Opening session...
+Declaring publisher for 'demo/example/zenoh-pico-pub'...
+Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...
+Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...
+Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...
+Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...
+Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...
+Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...
+Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...
+Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...
+Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...
+Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...'''
+    else :
+        z_pub_expected_status = 254
+        z_pub_expected_output = "ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it."
+
+    # Expected z_sub output & status
+    if args.sub == 1:
+        z_sub_expected_status = 0
+        if args.pub == 1:
+            z_sub_expected_output = '''Opening session...
+Declaring Subscriber on 'demo/example/**'...
+Enter 'q' to quit...
+>> [Subscriber] Received ('demo/example/zenoh-pico-pub': 'Pub from Pico!')
+>> [Subscriber] Received ('demo/example/zenoh-pico-pub': 'Pub from Pico!')
+>> [Subscriber] Received ('demo/example/zenoh-pico-pub': 'Pub from Pico!')
+>> [Subscriber] Received ('demo/example/zenoh-pico-pub': 'Pub from Pico!')
+>> [Subscriber] Received ('demo/example/zenoh-pico-pub': 'Pub from Pico!')
+>> [Subscriber] Received ('demo/example/zenoh-pico-pub': 'Pub from Pico!')
+>> [Subscriber] Received ('demo/example/zenoh-pico-pub': 'Pub from Pico!')
+>> [Subscriber] Received ('demo/example/zenoh-pico-pub': 'Pub from Pico!')
+>> [Subscriber] Received ('demo/example/zenoh-pico-pub': 'Pub from Pico!')
+>> [Subscriber] Received ('demo/example/zenoh-pico-pub': 'Pub from Pico!')'''
+        else:
+            z_sub_expected_output = '''Opening session...
+Declaring Subscriber on 'demo/example/**'...
+Enter 'q' to quit...'''
+    else :
+        z_sub_expected_status = 254
+        z_sub_expected_output = "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it."
+    
+    print("Start subscriber")
+    # Start z_sub in the background
+    z_sub_command = f"./{DIR_EXAMPLES}/z_sub"
+    z_sub_process = subprocess.Popen(z_sub_command, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+
+    # Introduce a delay to ensure z_sub starts
+    time.sleep(2)
+
+    print("Start publisher")
+    # Start z_pub
+    z_pub_command = f"./{DIR_EXAMPLES}/z_pub"
+    z_pub_process = subprocess.Popen(z_pub_command, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+
+    # Wait for z_pub to finish
+    z_pub_process.wait()
+
+    print("Stop subscriber")
+    if z_sub_process.poll() is None:
+        # Send "q" command to z_sub to stop it
+        z_sub_process.stdin.write("q\n")
+        z_sub_process.stdin.flush()
+
+    # Wait for z_sub to finish
+    z_sub_process.wait()
+
+    print("Check publisher status & output")
+    # Check the exit status of z_pub
+    z_pub_status = z_pub_process.returncode
+    if z_pub_status == z_pub_expected_status:
+        print("z_pub status valid")
+    else:
+        print(f"z_pub status invalid, expected: {z_pub_expected_status}, received: {z_pub_status}")
+        test_status = 1
+
+    # Check output of z_pub
+    z_pub_output = z_pub_process.stdout.read()
+    if z_pub_output.__contains__(z_pub_expected_output):
+        print("z_pub output valid")
+    else:
+        print("z_pub output invalid:")
+        print(f"Expected: \"{z_pub_expected_output}\"")
+        print(f"Received: \"{z_pub_output}\"")
+        test_status = 1
+
+    print("Check subscriber status & output")
+    # Check the exit status of z_sub
+    z_sub_status = z_sub_process.returncode
+    if z_sub_status == z_sub_expected_status:
+        print("z_sub status valid")
+    else:
+        print(f"z_sub status invalid, expected: {z_sub_expected_status}, received: {z_sub_status}")
+        test_status = 1
+
+    # Check output of z_sub
+    z_sub_output = z_sub_process.stdout.read()
+    if z_sub_output.__contains__(z_sub_expected_output):
+        print("z_sub output valid")
+    else:
+        print("z_sub output invalid:")
+        print(f"Expected: \"{z_sub_expected_output}\"")
+        print(f"Received: \"{z_sub_output}\"")
+        test_status = 1
+    # Return value
+    return test_status
+
+def query_and_queryable(args):
+    print("*** Query & queryable test ***")
+    test_status = 0
+
+    # Expected z_query output & status
+    if args.query == 1:
+        z_query_expected_status = 0
+        if args.queryable == 1:
+            z_query_expected_output = '''Opening session...
+Enter any key to pull data or 'q' to quit...
+Sending Query 'demo/example/**'...
+>> Received ('demo/example/zenoh-pico-queryable': 'Queryable from Pico!')
+>> Received query final notification
+Sending Query 'demo/example/**'...
+>> Received ('demo/example/zenoh-pico-queryable': 'Queryable from Pico!')
+>> Received query final notification
+Sending Query 'demo/example/**'...
+>> Received ('demo/example/zenoh-pico-queryable': 'Queryable from Pico!')
+>> Received query final notification'''
+        else:
+            z_query_expected_output = '''Opening session...
+Enter any key to pull data or 'q' to quit...
+Sending Query 'demo/example/**'...
+>> Received query final notification
+Sending Query 'demo/example/**'...
+>> Received query final notification
+Sending Query 'demo/example/**'...
+>> Received query final notification'''
+    else :
+        z_query_expected_status = 254
+        z_query_expected_output = "ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it."
+
+    # Expected z_queryable output & status
+    if args.queryable == 1:
+        z_queryable_expected_status = 0
+        if args.query == 1:
+            z_queryable_expected_output = '''Opening session...
+Creating Queryable on 'demo/example/zenoh-pico-queryable'...
+Enter 'q' to quit...
+ >> [Queryable handler] Received Query 'demo/example/**?'
+ >> [Queryable handler] Received Query 'demo/example/**?'
+ >> [Queryable handler] Received Query 'demo/example/**?'''
+        else:
+            z_queryable_expected_output = '''Opening session...
+Creating Queryable on 'demo/example/zenoh-pico-queryable'...
+Enter 'q' to quit...'''
+    else :
+        z_queryable_expected_status = 254
+        z_queryable_expected_output = "ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it."
+ 
+    print("Start queryable")
+    # Start z_queryable in the background
+    z_queryable_command = f"./{DIR_EXAMPLES}/z_queryable"
+    z_queryable_process = subprocess.Popen(z_queryable_command, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+
+    # Introduce a delay to ensure z_queryable starts
+    time.sleep(2)
+
+    print("Start query")
+    # Start z_query
+    z_query_command = f"./{DIR_EXAMPLES}/z_get"
+    z_query_process = subprocess.Popen(z_query_command, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+
+    # Introduce a delay to ensure z_query starts
+    time.sleep(2)
+
+    print("Send requests")
+    if z_query_process.poll() is None:
+        z_query_process.stdin.write("\n")
+        z_query_process.stdin.flush()
+        time.sleep(1)
+        z_query_process.stdin.write("\n")
+        z_query_process.stdin.flush()
+        time.sleep(1)
+        z_query_process.stdin.write("\n")
+        z_query_process.stdin.flush()
+        time.sleep(1)
+
+    print("Stop query")
+    if z_query_process.poll() is None:
+        z_query_process.stdin.write("q\n")
+        z_query_process.stdin.flush()
+
+    # Wait for z_query to finish
+    z_query_process.wait()
+
+    print("Stop queryable")
+    if z_queryable_process.poll() is None:
+        # Send "q" command to z_sub to stop it
+        z_queryable_process.stdin.write("q\n")
+        z_queryable_process.stdin.flush()
+
+    # Wait for z_queryable to finish
+    z_queryable_process.wait()
+
+    print("Check query status & output")
+    # Check the exit status of z_query
+    z_query_status = z_query_process.returncode
+    if z_query_status == z_query_expected_status:
+        print("z_query status valid")
+    else:
+        print(f"z_query status invalid, expected: {z_query_expected_status}, received: {z_query_status}")
+        test_status = 1
+
+    # Check output of z_query
+    z_query_output = z_query_process.stdout.read()
+    if z_query_output.__contains__(z_query_expected_output):
+        print("z_query output valid")
+    else:
+        print("z_query output invalid:")
+        print(f"Expected: \"{z_query_expected_output}\"")
+        print(f"Received: \"{z_query_output}\"")
+        test_status = 1
+
+    print("Check queryable status & output")
+    # Check the exit status of z_queryable
+    z_queryable_status = z_queryable_process.returncode
+    if z_queryable_status == z_queryable_expected_status:
+        print("z_queryable status valid")
+    else:
+        print(f"z_queryable status invalid, expected: {z_queryable_expected_status}, received: {z_queryable_status}")
+        test_status = 1
+
+    # Check output of z_queryable
+    z_queryable_output = z_queryable_process.stdout.read()
+    if z_queryable_output.__contains__(z_queryable_expected_output):
+        print("z_queryable output valid")
+    else:
+        print("z_queryable output invalid:")
+        print(f"Expected: \"{z_queryable_expected_output}\"")
+        print(f"Received: \"{z_queryable_output}\"")
+        test_status = 1
+    # Return status
+    return test_status
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="This script runs zenoh-pico examples and checks them according to the given configuration")
+    parser.add_argument("--pub", type=int, choices=[0, 1], help="Z_FEATURE_PUBLICATION (0 or 1)")
+    parser.add_argument("--sub", type=int, choices=[0, 1], help="Z_FEATURE_SUBSCRIPTION (0 or 1)")
+    parser.add_argument("--queryable", type=int, choices=[0, 1], help="Z_FEATURE_QUERYABLE (0 or 1)")
+    parser.add_argument("--query", type=int, choices=[0, 1], help="Z_FEATURE_QUERY (0 or 1)")
+
+    exit_status = 0
+    args = parser.parse_args()
+    print(f"Args value, pub:{args.pub}, sub:{args.sub}, queryable:{args.queryable}, query:{args.query}")
+
+    # Test pub and sub examples
+    if pub_and_sub(args) == 1:
+        exit_status = 1
+    # Test query and queryable examples
+    if query_and_queryable(args) == 1:
+        exit_status = 1
+    # Exit
+    sys.exit(exit_status)
\ No newline at end of file
diff --git a/zenohpico.pc b/zenohpico.pc
index bcc1e5d18..e08e8cce2 100644
--- a/zenohpico.pc
+++ b/zenohpico.pc
@@ -3,6 +3,6 @@ prefix=/usr/local
 Name: zenohpico
 Description: 
 URL: 
-Version: 0.11.20231019dev
+Version: 0.11.20231031dev
 Cflags: -I${prefix}/include
 Libs: -L${prefix}/lib -lzenohpico