diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000000000000000000000000000000000000..33c46b1d7f44240b92c9ea473de6503432a2dbff
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,10 @@
+[package]
+name = "travodds_rust"
+version = "0.1.0"
+edition = "2024"
+build = "build.rs"
+
+[dependencies]
+
+[build-dependencies]
+bindgen = "*"
diff --git a/build.rs b/build.rs
new file mode 100644
index 0000000000000000000000000000000000000000..5153e190c3a66f2dc3e36bf1015cc360d03f33f0
--- /dev/null
+++ b/build.rs
@@ -0,0 +1,94 @@
+use std::env;
+use std::path::PathBuf;
+use bindgen::callbacks::{ParseCallbacks, EnumVariantValue, ItemInfo};
+
+#[derive(Debug)]
+struct RenameCallbacks;
+
+impl ParseCallbacks for RenameCallbacks {
+    fn item_name(&self, original_item_name: ItemInfo<'_>) -> Option<String> {
+        let mut renamed = String::from(original_item_name.name);
+        if original_item_name.name == "DDS_CString" {
+            renamed = "DDSCString".to_string();
+        } 
+        // 替换DDS_LongLong为LLong
+        renamed = renamed.replace("DDS_LongLong", "LLong");
+        // 替换DDS_LongDouble为LDouble
+        renamed = renamed.replace("DDS_LongDouble", "LDouble");
+        // 替换DDS_为空
+        renamed = renamed.replace("DDS_", "");
+        // 替换_iterater为Iterator
+        renamed = renamed.replace("_iterator", "Iterator");
+        Some(renamed)
+    }
+	
+    fn enum_variant_name(
+        &self,
+        _enum_name: Option<&str>,
+        original_variant_name: &str,
+        _variant_value: EnumVariantValue,
+    ) -> Option<String> {
+        Some(match original_variant_name {
+            // 完全匹配重命名
+
+            // 模式匹配重命名
+            s if s.starts_with("DDS_") => {
+                s.trim_start_matches("DDS_").to_string()
+            },
+
+            // 保留其他名称不变
+            _ => original_variant_name.to_string(),
+        })
+    }
+}
+
+fn main() {
+    // Get travodds_c library path from environment variable
+    let travodds_c_path = env::var("TRAVODDS_C_PATH").unwrap_or_else(|_| {
+        println!("Please set the TRAVODDS_C_PATH environment variable to the path of the travodds_c library.");
+        std::process::exit(1);
+    });
+    // Tell cargo to look for shared libraries in the specified directory
+    println!("cargo:rustc-link-search={}/lib", travodds_c_path);
+
+    // Link to travodds_c library (update as needed)
+    if cfg!(debug_assertions) {
+        println!("cargo:rustc-link-lib=travoddscd");
+    } else {
+        // Release mode link travodds
+        println!("cargo:rustc-link-lib=travodds");
+    }
+
+    // Add include path for travodds_c headers
+    let travodds_include = format!("{}/include", travodds_c_path);
+
+    let bindings = bindgen::Builder::default()
+        // Use all headers in travodds_c/include
+        .clang_arg(format!("-I{}", travodds_include))
+        .header(format!("{}/dds_basetype.h", travodds_include))
+        .header(format!("{}/dds_c_string.h", travodds_include))
+        .header(format!("{}/dds_c_wstring.h", travodds_include))
+        .header(format!("{}/dds_builtin_topic.h", travodds_include))
+        .header(format!("{}/dds_infrastructure.h", travodds_include))
+        .header(format!("{}/dds_domain_participant_factory.h", travodds_include))
+        .header(format!("{}/dds_domain_participant.h", travodds_include))
+        .header(format!("{}/dds_topic.h", travodds_include))
+        .header(format!("{}/dds_typesupport.h", travodds_include))
+        .header(format!("{}/dds_publisher.h", travodds_include))
+        .header(format!("{}/dds_subscriber.h", travodds_include))
+        .header(format!("{}/dds_datawriter.h", travodds_include))
+        .header(format!("{}/dds_datareader.h", travodds_include))
+        .header(format!("{}/dds_waitset.h", travodds_include))    
+        .header(format!("{}/dds_condition.h", travodds_include))
+        .rustified_enum(".*")
+        .parse_callbacks(Box::new(RenameCallbacks))
+        .derive_default(true)
+        .generate()
+        .expect("Unable to generate bindings");
+
+    // Write the bindings to the src directory
+    let out_path = PathBuf::from(env::current_dir().unwrap()).join("src");
+    bindings
+        .write_to_file(out_path.join("travodds.rs"))
+        .expect("Couldn't write bindings!");
+}
\ No newline at end of file
diff --git a/doc/README.MD b/doc/README.MD
new file mode 100644
index 0000000000000000000000000000000000000000..62a8076ca621b7ef0e625a33fc37f4930eb52634
--- /dev/null
+++ b/doc/README.MD
@@ -0,0 +1,66 @@
+# travodds_rust
+
+## 1. 概述
+
+本开发库为travodds开发库（C++）接口的rust语言封装库，使用本库使得用户能够在rust的工程中使用travodds。
+
+## 2. 编译安装
+
+- 安装依赖：
+  - [travodds核心库](https://gitee.com/agiros-dds/travodds.git);
+  - [travodds-c库](https://gitee.com/agiros-dds/travodds-c.git);
+  - rustup(>=1.87.0)
+    - Windows: [rustup-init.exe](https://static.rust-lang.org/rustup/dist/x86_64-pc-windows-msvc/rustup-init.exe)
+    - Linux: `curl https://sh.rustup.rs -sSf | sh`
+  - libclang-dev
+    - Windows: [LLVM]
+    - Ubuntu: `apt install libclang-dev`
+    - CentOS: `yum install clang-devel`
+
+- `git clone https://gitee.com/agiros-dds/travodds-rust.git`
+- 设置环境变量
+  - cmd: `set TRAVODDS_C_PATH=/path/to/travodds_c && set TRAVODDS_PATH=/path/to/travodds`
+  - powershell: `$env:TRAVODDS_C_PATH="/path/to/travodds";$env:TRAVODDS_PATH="/path/to/travodds_c";`
+  - Linux: `export TRAVODDS_C_PATH=/path/to/travodds_c && EXPORT TRAVODDS_PATH=/path/to/travodds`
+- 编译生成rust绑定：`cargo build`
+- 编译成功后在src目录中：
+  - travodds.rs用于rust开发的travodds接口绑定；
+
+## 3. 使用示例
+
+### 3.1. 源码结构
+
+- 示例代码在example目录中；
+- example_type.idl为示例IDL文件；
+- 以下文件为编译器自动生成的文件：
+  - example_type.h
+  - example_type.cpp
+  - example_typeTypeSupport.h
+  - example_typeTypeSupport.cpp
+  - build.rs
+  - Cargo.toml（略有修改）
+- 发送端示例代码：pub_example.rs
+- 接收端示例代码：sub_example.rs
+
+### 3.2. 编译示例
+
+- 设置环境变量：TRAVODDS_PATH、TRAVODDS_C_PATH
+- `cargo build`
+- 运行成功后在target/debug下会有pub_example/sub_example的可执行程序；
+
+### 3.3. 运行示例
+
+- 发送端运行pub_example，观察到1s中发送一包序号递增的数据；
+- 接收端运行sub_example，观察到1s中接收到一包序号递增的数据；
+
+## 4. 使用流程
+
+- 前提：travodds、travodds_rust、travoddsgen安装完成；
+- 定义IDL文件；
+- 使用travoddsgen生成rust语言接口，详细参见travoddsgen手册；
+- 将生成的代码生成类型开发库；
+- 在业务工程用使用类型开发库以及本库进行接口进行开发；
+
+## 5. 接口说明
+
+- TODO 待补充
diff --git a/example/Cargo.toml b/example/Cargo.toml
new file mode 100644
index 0000000000000000000000000000000000000000..8a98f6b880e94717a2260b1440c59c9a2df90f66
--- /dev/null
+++ b/example/Cargo.toml
@@ -0,0 +1,19 @@
+[package]
+name = "example_type"
+version = "0.1.0"
+edition = "2024"
+build = "build.rs"
+
+[[bin]]
+name = "pub_example"
+path = "pub_example.rs"
+
+[[bin]]
+name = "sub_example"
+path = "sub_example.rs"
+
+[dependencies]
+
+[build-dependencies]
+cc = "1.0"
+bindgen = "*"
diff --git a/example/build.rs b/example/build.rs
new file mode 100644
index 0000000000000000000000000000000000000000..bb939b68ab804fbf8c75cf7843cfb68e42d19e02
--- /dev/null
+++ b/example/build.rs
@@ -0,0 +1,59 @@
+use std::env;
+use std::path::PathBuf;
+use bindgen::callbacks::{ParseCallbacks, ItemInfo};
+
+#[derive(Debug)]
+struct RenameCallbacks;
+
+impl ParseCallbacks for RenameCallbacks {
+    fn item_name(&self, original_item_name: ItemInfo<'_>) -> Option<String> {
+        let mut renamed = String::from(original_item_name.name);
+        if original_item_name.name == "DDS_CString" {
+            renamed = "DDSCString".to_string();
+        }
+        renamed = renamed.replace("DDS_LongLong", "LLong");
+        renamed = renamed.replace("DDS_LongDouble", "LDouble");
+        renamed = renamed.replace("DDS_", "");
+        renamed = renamed.replace("_iterator", "Iterator");
+        Some(renamed)
+    }
+}
+
+fn main() {
+    let travodds_c_path = env::var("TRAVODDS_C_PATH").unwrap_or_else(|_| {
+        println!("Please set the TRAVODDS_C_PATH environment variable to the path of the travodds_c library.");
+        std::process::exit(1);
+    });
+    let travodds_path = env::var("TRAVODDS_PATH").unwrap_or_else(|_| {
+        println!("Please set the TRAVODDS_PATH environment variable to the path of the travodds_c library.");
+        std::process::exit(1);
+    });
+    println!("cargo:rustc-link-search=native={}/lib", travodds_c_path);
+    println!("cargo:rustc-link-search=native={}/lib", travodds_path);
+    println!("cargo:rustc-link-lib=static=travoddscz");
+    println!("cargo:rustc-link-lib=static=travoddsstatic");
+    println!("cargo:rustc-link-lib=static=stdc++");
+
+    cc::Build::new()
+        .file("example_type.cpp")
+        .file("example_typeTypeSupport.cpp")
+        .include(format!("{}/include", travodds_c_path))
+        .include(format!("{}/include", travodds_path))
+        .compile("example_type");
+
+    let bindings = bindgen::Builder::default()
+        .clang_arg(format!("-I{}/include", travodds_c_path))
+        .header("example_type.h")
+        .header("example_typeTypeSupport.h")
+        .allowlist_file(".*example_type.h")
+        .allowlist_file(".*example_typeTypeSupport.h")
+        .allowlist_recursively(false)
+        .parse_callbacks(Box::new(RenameCallbacks))
+        .generate()
+        .expect("Unable to generate bindings");
+    let out_path = PathBuf::from(env::current_dir().unwrap());
+    bindings
+        .write_to_file(out_path.join("example_type.rs"))
+        .expect("Couldn't write example_type bindings!");
+    println!("cargo:rustc-link-lib=static=example_type");
+}
diff --git a/example/example_type.cpp b/example/example_type.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5141533460fbd3ddf317f78d6f126e3deb089912
--- /dev/null
+++ b/example/example_type.cpp
@@ -0,0 +1,28 @@
+#include "example_type.h"
+#include "dds_basetype.h"
+#include "dds_c_string.h"
+#include "dds_c_sequence.cpp"
+#include "dds_c_map.cpp"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+DDSCSequenceImpl(example_type);
+
+example_type* example_type_create() {
+    return new example_type();
+}
+
+void example_type_destroy(example_type* obj) {
+    delete obj;
+}
+
+example_type* example_type_copy(example_type* obj, const example_type* other) {
+    *obj = *other;
+    return obj;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/example/example_type.h b/example/example_type.h
new file mode 100644
index 0000000000000000000000000000000000000000..6ed38f590288b858dd141c12543e4af5d5908826
--- /dev/null
+++ b/example/example_type.h
@@ -0,0 +1,29 @@
+#ifndef example_type_H
+#define example_type_H
+
+#include "dds_c_sequence.h"
+#include "dds_c_map.h"
+#include "dds_c_string.h"
+#include "dds_c_wstring.h"
+#include "dds_basetype.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct example_type {
+    DDS_CString color;
+    DDS_Long x;
+    DDS_Long y;
+} example_type;
+
+DDSCSequence(example_type);
+
+example_type* example_type_create();
+void example_type_destroy(example_type* self);
+example_type* example_type_copy(example_type* self, const example_type* other);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* example_type_H */
diff --git a/example/example_type.idl b/example/example_type.idl
new file mode 100644
index 0000000000000000000000000000000000000000..61eadc915bdd91dd7b92feae174b605f9cb9047e
--- /dev/null
+++ b/example/example_type.idl
@@ -0,0 +1,6 @@
+struct example_type
+{
+    string<128> color;
+    long x;
+    long y;
+};
\ No newline at end of file
diff --git a/example/example_typeTypeSupport.cpp b/example/example_typeTypeSupport.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..68a3b0427692392acb2e986246f8f8230e97e6e8
--- /dev/null
+++ b/example/example_typeTypeSupport.cpp
@@ -0,0 +1,175 @@
+#include "example_type.h"
+#include "dcps/topic/typesupport.h"
+
+USING_AGIDDS_NAMESPACE
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+class example_typeTypeSupport : public AGIDDS::TypeSupport {
+public:
+    static example_typeTypeSupport* get_instance();
+
+    virtual void* create_data() override;
+
+    virtual void delete_data(void* data) override;
+
+    virtual int copy_data(void* dst, void* src) override;
+
+    virtual unsigned int get_serialized_data_size(void* data, unsigned int currentAlignment) override;
+
+    virtual unsigned int get_max_serialized_data_size(void* data, unsigned int currentAlignment) override;
+
+    virtual int serialize_data(void* data, AGIDDSCdrSerializer* cdr, int endian) override;
+
+    virtual int deserialize_data(void* data, AGIDDSCdrDeserializer* cdr, int endian) override;
+
+    virtual AGIDDS::TypeObject* get_typeobject() override;
+
+    virtual AGIDDS::ReturnCode_t get_instancehandle(void* data, AGIDDSCdrSerializer* cdr, AGIDDS::InstanceHandle_t& iHandle, bool forceMd5 = false) override;
+
+    virtual bool has_key() override;
+
+    virtual const char* get_typename() override;
+
+    virtual int MakeKey(const void* data, AGIDDS::InstanceHandle_t& iHandle, bool forceMd5 = false) override;
+
+    int serialize_key(void* data, AGIDDSCdrSerializer* cdr, int endian);
+
+private:
+    example_typeTypeSupport() = default;
+};
+
+example_typeTypeSupport* example_typeTypeSupport::get_instance() {
+    static example_typeTypeSupport instance;
+    return &instance;
+}
+
+void* example_typeTypeSupport::create_data() {
+    return new example_type();
+}
+
+void example_typeTypeSupport::delete_data(void* data) {
+    delete static_cast<example_type*>(data);
+}
+
+int example_typeTypeSupport::copy_data(void* dst, void* src) {
+    example_type* dstData = static_cast<example_type*>(dst);
+    example_type* srcData = static_cast<example_type*>(src);
+    *dstData = *srcData;
+    return 0;
+}
+
+unsigned int example_typeTypeSupport::get_serialized_data_size(void* data, unsigned int currentAlignment) {
+    example_type* structData = static_cast<example_type*>(data);
+    unsigned int initialAlignment = currentAlignment;
+    unsigned int tmpAlignment = 0;
+    currentAlignment += AGIDDSCdrSerializer::getStringSize(structData->color.size() + 1, currentAlignment);
+    currentAlignment += AGIDDSCdrSerializer::getBaseTypeSize(sizeof(DDS_Long), currentAlignment);
+    currentAlignment += AGIDDSCdrSerializer::getBaseTypeSize(sizeof(DDS_Long), currentAlignment);
+    return currentAlignment - initialAlignment;
+}
+
+unsigned int example_typeTypeSupport::get_max_serialized_data_size(void* data, unsigned int currentAlignment) {
+    example_type* structData = static_cast<example_type*>(data);
+    unsigned int initialAlignment = currentAlignment;
+    unsigned int tmpAlignment = 0;
+    currentAlignment += AGIDDSCdrSerializer::getStringSize(128, currentAlignment);
+    currentAlignment += AGIDDSCdrSerializer::getBaseTypeSize(sizeof(DDS_Long), currentAlignment);
+    currentAlignment += AGIDDSCdrSerializer::getBaseTypeSize(sizeof(DDS_Long), currentAlignment);
+    return currentAlignment - initialAlignment;
+}
+
+int example_typeTypeSupport::serialize_data(void* data, AGIDDSCdrSerializer* cdr, int endian) {
+    example_type* structData = static_cast<example_type*>(data);
+    uint32_t tmpLength = 0;
+    if (!cdr->serializeString(structData->color)) {
+        fprintf(stderr, "Serialization failed for field: structData->color\n");
+        return -1;
+    }
+    if (!cdr->serializeBaseType(structData->x)) {
+        fprintf(stderr, "Serialization failed for field: structData->x\n");
+        return -1;
+    }
+    if (!cdr->serializeBaseType(structData->y)) {
+        fprintf(stderr, "Serialization failed for field: structData->y\n");
+        return -1;
+    }
+    return 0;
+}
+
+int example_typeTypeSupport::deserialize_data(void* data, AGIDDSCdrDeserializer* cdr, int endian) {
+    example_type* structData = static_cast<example_type*>(data);
+    unsigned int tmpLength = 0;
+    char tmpCharEnum = 0;
+    short tmpShortEnum = 0;
+    int tmpIntEnum = 0;
+    if (!cdr->deserializeString(structData->color)) {
+        fprintf(stderr, "Deserialization failed for field: structData->color\n");
+        return -1;
+    }
+    if (!cdr->deserializeBaseType(structData->x)) {
+        fprintf(stderr, "Deserialization failed for field: structData->x\n");
+        return -1;
+    }
+    if (!cdr->deserializeBaseType(structData->y)) {
+        fprintf(stderr, "Deserialization failed for field: structData->y\n");
+        return -1;
+    }
+    return 0;
+}
+
+TypeObject* example_typeTypeSupport::get_typeobject() {
+    return nullptr;
+}
+
+int example_typeTypeSupport::serialize_key(void* data, AGIDDSCdrSerializer* cdr, int endian) {
+    example_type* structData = static_cast<example_type*>(data);
+    bool memberHasKey = false;
+    return 0;
+}
+
+int example_typeTypeSupport::MakeKey(const void* data, InstanceHandle_t& iHandle, bool forceMd5) {
+    unsigned int serializedSize = get_serialized_data_size((void*)data, 0);
+    SerializedBuffer buffer;
+    buffer.buffer_size = serializedSize;
+    buffer.buffer = new char[buffer.buffer_size];
+    AGIDDSCdrSerializer cdr(&buffer);
+    ReturnCode_t ret = get_instancehandle((void*)data, &cdr, iHandle, forceMd5);
+    delete[] buffer.buffer;
+    return ret == RETCODE_OK ? 0 : -1;
+}
+
+ReturnCode_t example_typeTypeSupport::get_instancehandle(void* data, AGIDDSCdrSerializer* cdr, InstanceHandle_t& iHandle, bool forceMd5) {
+    if (!has_key()) {
+        iHandle = HANDLE_NIL;
+        return RETCODE_OK;
+    }
+    int ret = serialize_key(data, cdr, forceMd5);
+    if (ret != 0) {
+        fprintf(stderr, "Failed to serialize key.\n");
+        return RETCODE_ERROR;
+    }
+    if (!cdr->getKeyHash((char*)&iHandle, forceMd5)) {
+        fprintf(stderr, "Failed to get key hash\n");
+        return RETCODE_ERROR;
+    }
+    return RETCODE_OK;
+}
+
+bool example_typeTypeSupport::has_key() {
+    return false;
+}
+
+const char* example_typeTypeSupport::get_typename() {
+    return "example_type";
+}
+
+void* example_typeTypeSupport_get_instance() {
+    return example_typeTypeSupport::get_instance();
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/example/example_typeTypeSupport.h b/example/example_typeTypeSupport.h
new file mode 100644
index 0000000000000000000000000000000000000000..ef4d1e6a5ddc36e8be9dbdcbaa01af37916184ef
--- /dev/null
+++ b/example/example_typeTypeSupport.h
@@ -0,0 +1,14 @@
+#ifndef example_typeTypeSupport_H
+#define example_typeTypeSupport_H
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void* example_typeTypeSupport_get_instance();
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* example_typeTypeSupport_H */
diff --git a/example/pub_example.rs b/example/pub_example.rs
new file mode 100644
index 0000000000000000000000000000000000000000..f37ff6ce14b8e0efd456bfc3eeccdfabe6ae1309
--- /dev/null
+++ b/example/pub_example.rs
@@ -0,0 +1,122 @@
+use std::{ffi::CString, ptr, thread, time::Duration};
+
+include!("../src/travodds.rs");
+include!("example_type.rs");
+
+fn main() {
+    unsafe {
+        // 1. 获取 DomainParticipantFactory 实例
+        let factory = DomainParticipantFactory_get_instance();
+        if factory.is_null() {
+            println!("Failed to get DomainParticipantFactory instance");
+            return;
+        }
+
+        // 2. 创建 DomainParticipant
+        let participant = DomainParticipantFactory_create_participant(
+            factory,
+            0,
+            ptr::null_mut(),
+            ptr::null_mut(),
+            0,
+        );
+        if participant.is_null() {
+            println!("Failed to create DomainParticipant");
+            return;
+        }
+
+        // 3. 注册类型
+        let type_name = CString::new("example_type").unwrap();
+        let mut ts = example_typeTypeSupport_get_instance();
+        let ret = DomainParticipant_registe_type(participant, type_name.as_ptr(), ts);
+        if ret != RETCODE_OK {
+            println!("Failed to register type");
+            DomainParticipantFactory_delete_participant(factory, participant);
+            return;
+        }
+
+        // 4. 创建 Topic
+        let topic_name = CString::new("example_topic").unwrap();
+        let topic = DomainParticipant_create_topic(
+            participant,
+            topic_name.as_ptr(),
+            type_name.as_ptr(),
+            ptr::null_mut(),
+            ptr::null_mut(),
+            0,
+        );
+        if topic.is_null() {
+            println!("Failed to create Topic");
+            DomainParticipantFactory_delete_participant(factory, participant);
+            return;
+        }
+
+        // 5. 创建 Publisher
+        let publisher = DomainParticipant_create_publisher(
+            participant,
+            ptr::null_mut(),
+            ptr::null_mut(),
+            0,
+        );
+        if publisher.is_null() {
+            println!("Failed to create Publisher");
+            DomainParticipant_delete_topic(participant, topic);
+            DomainParticipantFactory_delete_participant(factory, participant);
+            return;
+        }
+
+        // 6. 创建 DataWriter
+        let writer = Publisher_create_datawriter(
+            publisher,
+            topic,
+            ptr::null_mut(),
+            ptr::null_mut(),
+            0,
+        );
+        if writer.is_null() {
+            println!("Failed to create DataWriter");
+            DomainParticipant_delete_publisher(participant, publisher);
+            DomainParticipant_delete_topic(participant, topic);
+            DomainParticipantFactory_delete_participant(factory, participant);
+            return;
+        }
+
+        // 7. 构造数据并周期性发送
+        let mut data = example_type_create();
+        DDSCString_assign_cstr(&mut (*data).color, CString::new("red").unwrap().as_ptr());
+        (*data).x = 1;
+        (*data).y = 2;
+
+        // 转化为 void* 指针
+        let data_ptr = data as *mut std::ffi::c_void;
+
+        let mut handle = DataWriter_register_instance(writer, data_ptr);
+
+        println!("Start sending data every 1s...");
+        for i in 0..100 {
+            (*data).x = i + 1;
+            let ret = DataWriter_write(writer, data_ptr, &mut handle);
+            if ret != RETCODE_OK {
+                println!("Failed to write data at x={}", (*data).x);
+            } else {
+                // 获取 color 字符串
+                let color_ptr = DDSCString_c_str(&(*data).color);
+                let color = if !color_ptr.is_null() {
+                    std::ffi::CStr::from_ptr(color_ptr).to_string_lossy().into_owned()
+                } else {
+                    String::from("")
+                };
+                println!("Data written: color={}, x={}, y={}", color, (*data).x, (*data).y);
+            }
+            thread::sleep(Duration::from_secs(1));
+        }
+
+        Publisher_delete_datawriter(publisher, writer);
+        DomainParticipant_delete_publisher(participant, publisher);
+        DomainParticipant_delete_topic(participant, topic);
+        DomainParticipantFactory_delete_participant(factory, participant);
+        DomainParticipantFactory_finalize_instance();
+
+        example_type_destroy(data);
+    }
+}
\ No newline at end of file
diff --git a/example/sub_example.rs b/example/sub_example.rs
new file mode 100644
index 0000000000000000000000000000000000000000..0020731d8e430ff2419693536af9604f54956bff
--- /dev/null
+++ b/example/sub_example.rs
@@ -0,0 +1,125 @@
+use std::{ffi::CString, ptr, thread, time::Duration};
+
+include!("../src/travodds.rs");
+include!("example_type.rs");
+
+fn main() {
+    unsafe {
+        // 1. 获取 DomainParticipantFactory 实例
+        let factory = DomainParticipantFactory_get_instance();
+        if factory.is_null() {
+            println!("Failed to get DomainParticipantFactory instance");
+            return;
+        }
+
+        // 2. 创建 DomainParticipant
+        let participant = DomainParticipantFactory_create_participant(
+            factory,
+            0,
+            ptr::null_mut(),
+            ptr::null_mut(),
+            0,
+        );
+        if participant.is_null() {
+            println!("Failed to create DomainParticipant");
+            return;
+        }
+
+        // 3. 注册类型
+        let type_name = CString::new("example_type").unwrap();
+        let ts = example_typeTypeSupport_get_instance();
+        let ret = DomainParticipant_registe_type(participant, type_name.as_ptr(), ts);
+        if ret != RETCODE_OK {
+            println!("Failed to register type");
+            DomainParticipantFactory_delete_participant(factory, participant);
+            return;
+        }
+
+        // 4. 创建 Topic
+        let topic_name = CString::new("example_topic").unwrap();
+        let topic = DomainParticipant_create_topic(
+            participant,
+            topic_name.as_ptr(),
+            type_name.as_ptr(),
+            ptr::null_mut(),
+            ptr::null_mut(),
+            0,
+        );
+        if topic.is_null() {
+            println!("Failed to create Topic");
+            DomainParticipantFactory_delete_participant(factory, participant);
+            return;
+        }
+
+        let topic_desc = Topic_as_topicdescription(topic);
+        if topic_desc.is_null() {
+            println!("Failed to get TopicDescription");
+            DomainParticipant_delete_topic(participant, topic);
+            DomainParticipantFactory_delete_participant(factory, participant);
+            return;
+        }
+
+        // 5. 创建 Subscriber
+        let subscriber = DomainParticipant_create_subscriber(
+            participant,
+            ptr::null_mut(),
+            ptr::null_mut(),
+            0,
+        );
+        if subscriber.is_null() {
+            println!("Failed to create Subscriber");
+            DomainParticipant_delete_topic(participant, topic);
+            DomainParticipantFactory_delete_participant(factory, participant);
+            return;
+        }
+
+        // 6. 创建 DataReader
+        let reader = Subscriber_create_datareader(
+            subscriber,
+            topic_desc,
+            ptr::null_mut(),
+            ptr::null_mut(),
+            0,
+        );
+        if reader.is_null() {
+            println!("Failed to create DataReader");
+            DomainParticipant_delete_subscriber(participant, subscriber);
+            DomainParticipant_delete_topic(participant, topic);
+            DomainParticipantFactory_delete_participant(factory, participant);
+            return;
+        }
+
+        // 7. 等待数据
+        let mut data = example_type_create();
+
+        let mut data_ptr = data as *mut std::ffi::c_void;
+
+        for _ in 0..1000 {
+            let mut sample_info = SampleInfo::default();
+            let ret = DataReader_take_next_sample(reader, data_ptr, &mut sample_info);
+            if ret == RETCODE_OK {
+                // 获取 color 字符串
+                let color_ptr = DDSCString_c_str(&(*data).color);
+                let color = if !color_ptr.is_null() {
+                    std::ffi::CStr::from_ptr(color_ptr).to_string_lossy().into_owned()
+                } else {
+                    String::from("")
+                };
+                println!("Received data: color={}, x={}, y={}", color, (*data).x, (*data).y);
+            } else if ret == RETCODE_NO_DATA {
+                println!("No data available");
+            } else if ret == RETCODE_ERROR {
+                println!("Failed to take data");
+            }
+            thread::sleep(Duration::from_secs(1));
+        }
+
+        Subscriber_delete_datareader(subscriber, reader);
+        DomainParticipant_delete_subscriber(participant, subscriber);
+        DomainParticipant_delete_topic(participant, topic);
+        DomainParticipantFactory_delete_participant(factory, participant);
+        DomainParticipantFactory_finalize_instance();
+
+        example_type_destroy(data);
+    }
+}
\ No newline at end of file
diff --git a/src/lib.rs b/src/lib.rs
new file mode 100644
index 0000000000000000000000000000000000000000..5e2ca512448a9219c4384e6cabd5157e0b81e707
--- /dev/null
+++ b/src/lib.rs
@@ -0,0 +1,5 @@
+#![allow(non_upper_case_globals)]
+#![allow(non_camel_case_types)]
+#![allow(non_snake_case)]
+
+include!("travodds.rs");