diff --git a/.github/workflows/rust-minimal.yml b/.github/workflows/rust-minimal.yml
index a93dfe318..8fbb32b61 100644
--- a/.github/workflows/rust-minimal.yml
+++ b/.github/workflows/rust-minimal.yml
@@ -36,6 +36,14 @@ jobs:
       image: ${{ matrix.docker_image }}
     steps:
     - uses: actions/checkout@v4
+    
+    - name: Markdown autodocs
+      uses: dineshsonachalam/markdown-autodocs@v1.0.7
+      with:
+        commit_message: Synchronizing Markdown files
+        branch: ${{ github.base_ref }} 
+        output_file_paths: '[./docs/writing-your-first-rclrs-node.md]'
+        categories: '[code-block]'
 
     - name: Search packages in this repository
       id: list_packages
diff --git a/.github/workflows/rust-stable.yml b/.github/workflows/rust-stable.yml
index fec89e84b..6e6282d9e 100644
--- a/.github/workflows/rust-stable.yml
+++ b/.github/workflows/rust-stable.yml
@@ -36,6 +36,14 @@ jobs:
       image: ${{ matrix.docker_image }}
     steps:
     - uses: actions/checkout@v4
+    
+    - name: Markdown autodocs
+      uses: dineshsonachalam/markdown-autodocs@v1.0.7
+      with:
+        commit_message: Synchronizing Markdown files
+        branch: ${{ github.base_ref }} 
+        output_file_paths: '[./docs/writing-your-first-rclrs-node.md]'
+        categories: '[code-block]'
 
     - name: Search packages in this repository
       id: list_packages
diff --git a/docs/writing-your-first-rclrs-node.md b/docs/writing-your-first-rclrs-node.md
index 8dbd8d2fa..cebc05f3e 100644
--- a/docs/writing-your-first-rclrs-node.md
+++ b/docs/writing-your-first-rclrs-node.md
@@ -58,7 +58,6 @@ impl RepublisherNode {
         let data = None;
         let _subscription = node.create_subscription(
             "in_topic",
-            rclrs::QOS_PROFILE_DEFAULT,
             |msg: StringMsg| { todo!("Assign msg to self.data") },
         )?;
         Ok(Self {
@@ -74,9 +73,13 @@ Next, add a main function to launch it:
 
 ```rust
 fn main() -> Result<(), rclrs::RclrsError> {
-    let context = rclrs::Context::new(std::env::args())?;
-    let republisher = RepublisherNode::new(&context)?;
-    rclrs::spin(republisher.node)
+    let context = Context::default_from_env()?;
+    let mut executor = context.create_basic_executor();
+    let _republisher = RepublisherNode::new(&executor)?;
+    executor
+        .spin(SpinOptions::default())
+        .first_error()
+        .map_err(|err| err.into())
 }
 ```
 
@@ -110,37 +113,31 @@ So, to store the received data in the struct, the following things have to chang
 4. Make the closure `move`, and inside it, lock the `Mutex` and store the message  
 
 ```rust
+use rclrs::*;
 use std::sync::{Arc, Mutex};  // (1)
 use std_msgs::msg::String as StringMsg;
-
 struct RepublisherNode {
-    node: Arc<rclrs::Node>,
-    _subscription: Arc<rclrs::Subscription<StringMsg>>,
-    data: Arc<Mutex<Option<StringMsg>>>,  // (2)
+   _node: Arc<rclrs::Node>,
+   _subscription: Arc<rclrs::Subscription<StringMsg>>,
+   _data: Arc<Mutex<Option<StringMsg>>>,  // (2)
 }
-
 impl RepublisherNode {
-    fn new(context: &rclrs::Context) -> Result<Self, rclrs::RclrsError> {
-        let node = rclrs::Node::new(context, "republisher")?;
-        let data = Arc::new(Mutex::new(None));  // (3)
-        let data_cb = Arc::clone(&data);
-        let _subscription = {
-            // Create a new shared pointer instance that will be owned by the closure
-            node.create_subscription(
-                "in_topic",
-                rclrs::QOS_PROFILE_DEFAULT,
-                move |msg: StringMsg| {
-                    // This subscription now owns the data_cb variable
-                    *data_cb.lock().unwrap() = Some(msg);  // (4)
-                },
-            )?
-        };
-        Ok(Self {
-            node,
-            _subscription,
-            data,
-        })
-    }
+   fn new(executor: &rclrs::Executor) -> Result<Self, rclrs::RclrsError> {
+       let _node = executor.create_node("republisher")?;
+       let _data = Arc::new(Mutex::new(None));  // (3)
+       let data_cb = Arc::clone(&_data);
+       let _subscription = _node.create_subscription(
+           "in_topic".keep_last(10).transient_local(),  // (4)
+           move |msg: StringMsg| {
+               *data_cb.lock().unwrap() = Some(msg);
+           },
+       )?;
+       Ok(Self {
+           _node,
+           _subscription,
+           _data,
+       })
+   }
 }
 ```
 
@@ -152,45 +149,45 @@ If you couldn't follow the explanation involving borrowing, closures etc. above,
 
 The node still doesn't republish the received messages. First, let's add a publisher to the node:
 
-```rust
-// Add this new field to the RepublisherNode struct, after the subscription:
-publisher: Arc<rclrs::Publisher<StringMsg>>,
-
-// Change the end of RepublisherNode::new() to this:
-let publisher = node.create_publisher("out_topic", rclrs::QOS_PROFILE_DEFAULT)?;
-Ok(Self {
-    node,
-    _subscription,
-    publisher,
-    data,
-})
 ```
+<!-- MARKDOWN-AUTO-DOCS:START (CODE:src=../rclrs/src/lib.rs&lines=78-83) -->
+<!-- MARKDOWN-AUTO-DOCS:END -->
+```
+
+Create a publisher and add it to the newly instantiated `RepublisherNode`:
+
+```
+<!-- MARKDOWN-AUTO-DOCS:START (CODE:src=../rclrs/src/lib.rs&lines=96-102) -->
+<!-- MARKDOWN-AUTO-DOCS:END -->
+```
+
 
 Then, let's add a `republish()` function to the `RepublisherNode` that publishes the latest message received, or does nothing if none was received:
 
-```rust
-fn republish(&self) -> Result<(), rclrs::RclrsError> {
-    if let Some(s) = &*self.data.lock().unwrap() {
-        self.publisher.publish(s)?;
-    }
-    Ok(())
-}
+```
+<!-- MARKDOWN-AUTO-DOCS:START (CODE:src=../rclrs/src/lib.rs&lines=105-110) -->
+<!-- MARKDOWN-AUTO-DOCS:END -->
 ```
 
+
 What's left to do is to call this function every second. `rclrs` doesn't yet have ROS timers, which run a function at a fixed interval, but it's easy enough to achieve with a thread, a loop, and the sleep function. Change your main function to spawn a separate thread:
 
 ```rust
 fn main() -> Result<(), rclrs::RclrsError> {
-    let context = rclrs::Context::new(std::env::args())?;
-    let republisher = RepublisherNode::new(&context)?;
+    let context = Context::default_from_env()?;
+    let mut executor = context.create_basic_executor();
+    let _republisher = RepublisherNode::new(&executor)?;
     std::thread::spawn(|| -> Result<(), rclrs::RclrsError> {
         loop {
             use std::time::Duration;
             std::thread::sleep(Duration::from_millis(1000));
-            republisher.republish()?;
+            _republisher.republish()?;
         }
     });
-    rclrs::spin(republisher.node)
+    executor
+        .spin(SpinOptions::default())
+        .first_error()
+        .map_err(|err| err.into())
 }
 ```
 
@@ -200,20 +197,9 @@ But wait, this doesn't work – there is an error about the thread closure needi
 
 The solution is also the same as above: Shared ownership with `Arc`. Only this time, `Mutex` isn't needed since both the `rclcpp::spin()` and the `republish()` function only require a shared reference:
 
-```rust
-fn main() -> Result<(), rclrs::RclrsError> {
-    let context = rclrs::Context::new(std::env::args())?;
-    let republisher = Arc::new(RepublisherNode::new(&context)?);
-    let republisher_other_thread = Arc::clone(&republisher);
-    std::thread::spawn(move || -> Result<(), rclrs::RclrsError> {
-        loop {
-            use std::time::Duration;
-            std::thread::sleep(Duration::from_millis(1000));
-            republisher_other_thread.republish()?;
-        }
-    });
-    rclrs::spin(Arc::clone(&republisher.node))
-}
+```
+<!-- MARKDOWN-AUTO-DOCS:START (CODE:src=../rclrs/src/lib.rs&lines=113-128) -->
+<!-- MARKDOWN-AUTO-DOCS:END -->
 ```
 
 
diff --git a/rclrs/Cargo.toml b/rclrs/Cargo.toml
index 09f59cb62..ccff15122 100644
--- a/rclrs/Cargo.toml
+++ b/rclrs/Cargo.toml
@@ -33,6 +33,11 @@ rosidl_runtime_rs = "0.4"
 serde = { version = "1", optional = true, features = ["derive"] }
 serde-big-array = { version = "0.5.1", optional = true }
 
+# Needed for the examples in lib.rs
+[dependencies.std_msgs]
+version = "*"
+
+
 [dev-dependencies]
 # Needed for e.g. writing yaml files in tests
 tempfile = "3.3.0"
diff --git a/rclrs/package.xml b/rclrs/package.xml
index 4c3754f48..bfbffbe52 100644
--- a/rclrs/package.xml
+++ b/rclrs/package.xml
@@ -20,6 +20,8 @@
   <depend>rcl_interfaces</depend>
   <depend>rosgraph_msgs</depend>
   
+  <build_depend>std_msgs</build_depend>
+  
   <test_depend>test_msgs</test_depend>
 
   <export>
diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
index 73d478191..598be9a1b 100644
--- a/rclrs/src/lib.rs
+++ b/rclrs/src/lib.rs
@@ -48,3 +48,79 @@ pub use subscription::*;
 pub use time::*;
 use time_source::*;
 pub use wait::*;
+
+/// # rclrs - ROS 2 Client Library for Rust
+///
+/// `rclrs` provides Rust bindings and idiomatic wrappers for ROS 2 (Robot Operating System).
+/// It enables writing ROS 2 nodes, publishers, subscribers, services and clients in Rust.
+///
+/// ## Features
+///
+/// - Native Rust implementation of core ROS 2 concepts
+/// - Safe wrappers around rcl C API
+/// - Support for publishers, subscribers, services, clients
+/// - Async/await support for services and clients
+/// - Quality of Service (QoS) configuration
+/// - Parameter services
+/// - Logging integration
+///
+/// ## Example
+/// Here's a simple publisher-subscriber node:
+use std::sync::{Arc, Mutex};
+use std_msgs::msg::String as StringMsg;
+
+/// ## Write the basic node structure
+/// Since Rust doesn't have inheritance, it's not possible to inherit from `Node` as is common practice in `rclcpp` or `rclpy`.
+///
+/// Instead, you can store the node as a regular member. Let's use a struct that contains the node, a subscription, and a field for the last message that was received to `main.rs`:
+pub struct RepublisherNode {
+    _node: Arc<Node>,
+    _subscription: Arc<Subscription<StringMsg>>,
+    _publisher: Arc<Publisher<StringMsg>>,
+    _data: Arc<Mutex<Option<StringMsg>>>,
+}
+
+impl RepublisherNode {
+    fn _new(executor: &Executor) -> Result<Self, RclrsError> {
+        let _node = executor.create_node("republisher")?;
+        let _data = Arc::new(Mutex::new(None));
+        let data_cb = Arc::clone(&_data);
+        let _subscription = _node.create_subscription(
+            "in_topic".keep_last(10).transient_local(),
+            move |msg: StringMsg| {
+                *data_cb.lock().unwrap() = Some(msg);
+            },
+        )?;
+        let _publisher = _node.create_publisher::<std_msgs::msg::String>("out_topic")?;
+        Ok(Self {
+            _node,
+            _subscription,
+            _publisher,
+            _data,
+        })
+    }
+
+    fn _republish(&self) -> Result<(), RclrsError> {
+        if let Some(s) = &*self._data.lock().unwrap() {
+            self._publisher.publish(s)?;
+        }
+        Ok(())
+    }
+}
+
+fn _main() -> Result<(), RclrsError> {
+    let context = Context::default_from_env()?;
+    let mut executor = context.create_basic_executor();
+    let republisher = RepublisherNode::_new(&executor)?;
+    std::thread::spawn(move || -> Result<(), RclrsError> {
+        loop {
+            use std::time::Duration;
+            std::thread::sleep(Duration::from_millis(1000));
+            republisher._republish()?;
+        }
+    });
+    executor
+        .spin(SpinOptions::default())
+        .first_error()
+        .map_err(|err| err.into())
+}