diff --git a/.github/workflows/python-publish.yml b/.github/workflows/python-publish.yml
index cefbdb2..ff95871 100644
--- a/.github/workflows/python-publish.yml
+++ b/.github/workflows/python-publish.yml
@@ -15,7 +15,7 @@ jobs:
         submodules: recursive
     - name: Build SDist
       run: pipx run build --sdist
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       with:
         path: dist/*.tar.gz
 
@@ -23,11 +23,11 @@ jobs:
     needs: make_sdist
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/download-artifact@v3
+    - uses: actions/download-artifact@v4
       with:
         name: artifact
         path: dist
-    - uses: pypa/gh-action-pypi-publish@v1.8.10
+    - uses: pypa/gh-action-pypi-publish@v1.8.11
       with:
         skip_existing: true
         user: __token__
diff --git a/README.md b/README.md
index e4a452d..81f2078 100644
--- a/README.md
+++ b/README.md
@@ -25,6 +25,9 @@ for communication between processes. It is not intended to be a replacement for
     <br/>
 </p>
 
+## Why ZeroROS?
+See these discussions in [ROS Discourse](https://discourse.ros.org/t/teaching-with-ros-or-zeroros-at-university/32124) and this one in [reddit/ROS](https://www.reddit.com/r/ROS/comments/14kh7pt/teaching_ros_zeroros_at_university_students/).
+
 ## Installation
 Use pip to install the library:
 
diff --git a/setup.py b/setup.py
index 8f9526c..842f1cc 100644
--- a/setup.py
+++ b/setup.py
@@ -32,7 +32,7 @@
 
 setup(
     name="zeroros",
-    version="1.0.3",
+    version="1.0.5",
     description="ZeroROS middleware",
     long_description=long_description,
     long_description_content_type="text/markdown",
diff --git a/src/zeroros/datalogger.py b/src/zeroros/datalogger.py
index ffff342..b7a4a1d 100644
--- a/src/zeroros/datalogger.py
+++ b/src/zeroros/datalogger.py
@@ -20,6 +20,8 @@ def log(self, msg: type[Message]):
         self.file.write(
             '{"class": "'
             + str(type(msg).__name__)
+            + '", "timestamp": "'
+            + str(datetime.datetime.utcnow().timestamp())
             + '", "message": '
             + json.dumps(msg.to_json())
             + "}\n"
diff --git a/src/zeroros/messages/sensor_msgs.py b/src/zeroros/messages/sensor_msgs.py
index 3c05e0c..d3ec87c 100644
--- a/src/zeroros/messages/sensor_msgs.py
+++ b/src/zeroros/messages/sensor_msgs.py
@@ -5,7 +5,7 @@
 
 
 class LaserScan(Message):
-    def __init__(self, ranges=[], intensitites=[]):
+    def __init__(self, ranges=[], intensitites=[], angles=[]):
         self.header = Header()
         self.angle_min = None
         self.angle_max = None
@@ -15,6 +15,7 @@ def __init__(self, ranges=[], intensitites=[]):
         self.range_min = None
         self.range_max = None
         self.ranges = np.array(ranges)
+        self.angles = np.array(angles)
         # Change NaNs to range_max
         if np.isnan(self.ranges).any():
             self.ranges[np.isnan(self.ranges)] = self.range_max
@@ -32,6 +33,7 @@ def __str__(self):
         msg += "Range Max:    " + str(self.range_max) + "\n"
         msg += "Ranges:       " + str(self.ranges) + "\n"
         msg += "Intensities:  " + str(self.intensities) + "\n"
+        msg += "Angles:       " + str(self.angles) + "\n"
         return msg
 
     def to_json(self):
@@ -46,6 +48,7 @@ def to_json(self):
             "range_max": self.range_max,
             "ranges": self.ranges.tolist(),
             "intensities": self.intensities.tolist(),
+            "angles": self.angles.tolist(),
         }
 
     def from_json(self, msg):
@@ -59,3 +62,4 @@ def from_json(self, msg):
         self.range_max = msg["range_max"]
         self.ranges = np.array(msg["ranges"])
         self.intensities = np.array(msg["intensities"])
+        self.angles = np.array(msg["angles"])
diff --git a/src/zeroros/messages/std_msgs.py b/src/zeroros/messages/std_msgs.py
index 665450d..eaa944d 100644
--- a/src/zeroros/messages/std_msgs.py
+++ b/src/zeroros/messages/std_msgs.py
@@ -1,4 +1,6 @@
-import time
+import datetime
+import numpy as np
+import numpy.typing as npt
 
 from . import Message
 
@@ -9,7 +11,7 @@ def __init__(self, seq: int = 0, stamp: float = None, frame_id: str = ""):
         self.frame_id = frame_id
         self.stamp = stamp
         if stamp is None:
-            self.stamp = time.time()
+            self.stamp = datetime.datetime.utcnow().timestamp()
 
     def __str__(self):
         return "Header:\n  - seq={}\n  - stamp={}\n  - frame_id={})\n".format(
@@ -96,3 +98,103 @@ def __init__(self, data: bool = False):
 
     def __str__(self):
         return "Bool:\n  - data={}\n".format(self.data)
+
+
+class MultiArrayDimension:
+    def __init__(self, label: str = "", size: int = 0, stride: int = 0):
+        self.label = label
+        self.size = size
+        self.stride = stride
+
+    def __str__(self):
+        return (
+            "MultiArrayDimension:\n  - label={}\n  - size={}\n  - stride={}\n".format(
+                self.data["label"], self.data["size"], self.data["stride"]
+            )
+        )
+
+
+class MultiArrayLayout:
+    def __init__(self, dim: MultiArrayDimension = None, data_offset: int = 0):
+        self.dim = dim
+        self.data_offset = data_offset
+
+
+class Float32MultiArray:
+    def __init__(
+        self, layout: MultiArrayLayout = None, data: npt.NDArray[np.float32] = None
+    ):
+        self.layout = layout
+        self.data = data
+
+        # Check if the layout matches the data
+        if layout is not None and data is not None:
+            if layout.dim.size != len(data):
+                raise ValueError(
+                    "The size of the layout does not match the size of the data."
+                )
+
+    def __str__(self):
+        return "Float32MultiArray:\n  - layout={}\n  - data={}\n".format(
+            self.layout, self.data
+        )
+
+
+class Float64MultiArray:
+    def __init__(
+        self, layout: MultiArrayLayout = None, data: npt.NDArray[np.float64] = None
+    ):
+        self.layout = layout
+        self.data = data
+
+        # Check if the layout matches the data
+        if layout is not None and data is not None:
+            if layout.dim.size != len(data):
+                raise ValueError(
+                    "The size of the layout does not match the size of the data."
+                )
+
+    def __str__(self):
+        return "Float64MultiArray:\n  - layout={}\n  - data={}\n".format(
+            self.layout, self.data
+        )
+
+
+class Int32MultiArray:
+    def __init__(
+        self, layout: MultiArrayLayout = None, data: npt.NDArray[np.int32] = None
+    ):
+        self.layout = layout
+        self.data = data
+
+        # Check if the layout matches the data
+        if layout is not None and data is not None:
+            if layout.dim.size != len(data):
+                raise ValueError(
+                    "The size of the layout does not match the size of the data."
+                )
+
+    def __str__(self):
+        return "Int32MultiArray:\n  - layout={}\n  - data={}\n".format(
+            self.layout, self.data
+        )
+
+
+class Int64MultiArray:
+    def __init__(
+        self, layout: MultiArrayLayout = None, data: npt.NDArray[np.int64] = None
+    ):
+        self.layout = layout
+        self.data = data
+
+        # Check if the layout matches the data
+        if layout is not None and data is not None:
+            if layout.dim.size != len(data):
+                raise ValueError(
+                    "The size of the layout does not match the size of the data."
+                )
+
+    def __str__(self):
+        return "Int64MultiArray:\n  - layout={}\n  - data={}\n".format(
+            self.layout, self.data
+        )
diff --git a/src/zeroros/publisher.py b/src/zeroros/publisher.py
index 4665aa3..3bb198c 100644
--- a/src/zeroros/publisher.py
+++ b/src/zeroros/publisher.py
@@ -1,5 +1,7 @@
+import asyncio
 import json
 import time
+import sys
 
 import zmq
 
@@ -7,6 +9,10 @@
 from zeroros.topic import validate_topic
 
 
+if sys.platform == 'win32':
+   asyncio.set_event_loop_policy(asyncio.WindowsSelectorEventLoopPolicy())
+
+
 class Publisher:
     def __init__(
         self,
@@ -14,8 +20,10 @@ def __init__(
         message_class: type[Message],
         ip: str = "127.0.0.1",
         port: int = 5555,
+        verbose: bool = False,
     ):
-        print("Creating publisher for topic: ", topic)
+        if verbose:
+            print("Creating publisher for topic: ", topic)
         self.topic = validate_topic(topic)
         self.message_class = message_class
         self.ip = ip
diff --git a/src/zeroros/subscriber.py b/src/zeroros/subscriber.py
index 272cff6..0c3a8f7 100644
--- a/src/zeroros/subscriber.py
+++ b/src/zeroros/subscriber.py
@@ -2,6 +2,7 @@
 import json
 import threading
 import time
+import sys
 
 import zmq
 import zmq.asyncio
@@ -10,6 +11,10 @@
 from zeroros.topic import validate_topic
 
 
+if sys.platform == 'win32':
+   asyncio.set_event_loop_policy(asyncio.WindowsSelectorEventLoopPolicy())
+
+
 class Subscriber:
     def __init__(
         self,
@@ -18,10 +23,13 @@ def __init__(
         callback_handle: callable,
         ip: str = "127.0.0.1",
         port: int = 5556,
+        verbose: bool = False,
     ):
         self.ip = ip
         self.port = port
-        print("Subscribing to topic: ", topic)
+        self.verbose = verbose
+        if self.verbose:
+            print("Subscribing to topic: ", topic)
         self.topic = validate_topic(topic)
         self.message_class = message_class
         self.url = "tcp://" + str(self.ip) + ":" + str(self.port)
@@ -47,7 +55,8 @@ def listen(self, callback_handle: callable):
             except Exception as e:
                 print(f"Error for topic {self.topic} on {self.ip}:{self.port}: {e}")
             time.sleep(0.05)
-        print("Stopping subscriber")
+        if self.verbose:
+            print("Stopping subscriber")
         # Check if the socket is still open
         if self.sock.closed is False:
             self.sock.close()