diff --git a/document/sphinx-cn/tutorials/plugins/echo_plugin.md b/document/sphinx-cn/tutorials/plugins/echo_plugin.md
index 05362d276..91a01ae86 100644
--- a/document/sphinx-cn/tutorials/plugins/echo_plugin.md
+++ b/document/sphinx-cn/tutorials/plugins/echo_plugin.md
@@ -8,7 +8,7 @@
 
 ## 插件概述
 
-**echo_plugin**用于对 Channel 中的消息进行回显，插件支持独立的 type_support_pkg，并支持指定执行器。
+**echo_plugin**用于对 Channel 中的消息进行回显，插件支持独立的 type_support_pkg，并支持指定执行器, 必须设定 log_lvl 为 Trace，Debug，Info 之一才能正常工作。
 
 插件的配置项如下：
 
@@ -44,6 +44,10 @@ aimrt:
             - topic_name: test_topic
               msg_type: pb:aimrt.protocols.example.ExampleEventMsg                
               echo_type: json
+  log:
+    core_lvl: Info # Trace/Debug/Info
+    backends:
+      - type: console
   executor:
     executors:
       - name: echo_executor
@@ -67,6 +71,10 @@ aimrt:
             - topic_name: test_topic
               msg_type: pb:aimrt.protocols.example.ExampleEventMsg       
               echo_type: json
+  log:
+    core_lvl: Info # Trace/Debug/Info
+    backends:
+      - type: console
   executor:
     executors:
       - name: echo_executor
diff --git a/src/examples/plugins/CMakeLists.txt b/src/examples/plugins/CMakeLists.txt
index c1efe166d..50280bf7d 100644
--- a/src/examples/plugins/CMakeLists.txt
+++ b/src/examples/plugins/CMakeLists.txt
@@ -24,12 +24,15 @@ if(AIMRT_BUILD_ICEORYX_PLUGIN)
 endif()
 
 if(AIMRT_BUILD_WITH_PROTOBUF
+   AND AIMRT_BUILD_WITH_ROS2
    AND AIMRT_BUILD_NET_PLUGIN
    AND AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN)
   add_subdirectory(record_playback_plugin)
 endif()
 
-if(AIMRT_BUILD_ECHO_PLUGIN)
+if(AIMRT_BUILD_WITH_PROTOBUF
+   AND AIMRT_BUILD_WITH_ROS2
+   AND AIMRT_BUILD_ECHO_PLUGIN)
   add_subdirectory(echo_plugin)
 endif()
 
diff --git a/src/examples/plugins/echo_plugin/CMakeLists.txt b/src/examples/plugins/echo_plugin/CMakeLists.txt
index d8bd8ef4e..524c75327 100644
--- a/src/examples/plugins/echo_plugin/CMakeLists.txt
+++ b/src/examples/plugins/echo_plugin/CMakeLists.txt
@@ -27,4 +27,4 @@ add_custom_target(
   COMMAND ${CMAKE_COMMAND} -E copy_directory ${CUR_INSTALL_SOURCE_DIR}/bin ${CMAKE_BINARY_DIR}
   DEPENDS aimrt::runtime::main #
           aimrt::examples::cpp::pb_chn::pb_chn_pub_pkg #
-          aimrt::examples::cpp::pb_chn::pb_chn_sub_pkg)
+          aimrt::examples::cpp::ros2_chn::ros2_chn_pub_pkg)
diff --git a/src/examples/plugins/echo_plugin/README.md b/src/examples/plugins/echo_plugin/README.md
index f330e4a84..f6dc8ba2e 100644
--- a/src/examples/plugins/echo_plugin/README.md
+++ b/src/examples/plugins/echo_plugin/README.md
@@ -15,19 +15,19 @@
 
 
 配置文件：
-- [examples_plugins_echo_plugin_executor_cfg.yaml](./install/linux/bin/cfg/examples_plugins_echo_plugin_executor_cfg.yaml)
+- [examples_plugins_echo_plugin_pb_executor_cfg.yaml](./install/linux/bin/cfg/examples_plugins_echo_plugin_pb_executor_cfg.yaml)
 
 
 运行方式（linux）：
-- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_ECHO_PLUGIN` 选项编译 AimRT；
-- 直接运行 build 目录下`start_examples_plugins_echo_plugin_executor_cfg.sh`脚本启动进程；
+- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_WITH_ROS2` 、`AIMRT_BUILD_WITH_ECHO_PLUGIN` 选项编译 AimRT；
+- 直接运行 build 目录下`start_examples_plugins_echo_plugin_pb_executor.sh`脚本启动进程；
 - 键入`ctrl-c`停止进程；
 
 
 说明：
 - 此示例创建了以下模块：
   - `NormalPublisherModule`：会基于 `work_thread_pool` 执行器，以配置的频率、向配置的 topic 中发布 `ExampleEventMsg` 类型的消息；
-- 此示例加载了 `example_event_ts_pkg`，其中提供了 `ExampleEventMsg` 类型的 type support 工具，作为回显时的序列化工具；
+- 此示例加载了 `example_event_ts_pkg`，其中提供了 `ExampleEventMsg` 和 `RosTestMsg` 类型的 type support 工具，作为回显时的序列化工具；
 - 请注意，echo 插件的原理是向 AimRT 订阅指定的 Topic，因此需要在 channel 配置中为该 topic 设置合适的后端，以保证插件能接收到数据；
 
 
@@ -35,7 +35,7 @@
 
 一个基于 **echo_plugin** 的回显消息示例，演示内容包括：
 - 如何在启动时加载 **echo_plugin**；
-- 如何通过 curl 命令触发式回显指定 topic、msg 类型的数据；
+- 如何回显指定 topic、msg 类型的数据；
 
 
 核心代码：
@@ -45,17 +45,48 @@
 
 
 配置文件：
-- [examples_plugins_echo_plugin_cfg.yaml](./install/linux/bin/cfg/examples_plugins_echo_plugin_cfg.yaml)
+- [examples_plugins_echo_plugin_pb_cfg.yaml](./install/linux/bin/cfg/examples_plugins_echo_plugin_pb_cfg.yaml)
 
 
 运行方式（linux）：
-- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_NET_PLUGIN` 选项编译 AimRT；
-- 直接运行 build 目录下`start_examples_plugins_echo_plugin_cfg.sh`脚本启动进程；
+- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF` 、`AIMRT_BUILD_WITH_ROS2` 、`AIMRT_BUILD_WITH_ECHO_PLUGIN` 选项编译 AimRT；
+- 直接运行 build 目录下`start_examples_plugins_echo_plugin_pb.sh`脚本启动进程；
 - 键入`ctrl-c`停止进程；
 
 
 说明：
 - 此示例创建了以下模块：
   - `NormalPublisherModule`：会基于 `work_thread_pool` 执行器，以配置的频率、向配置的 topic 中发布 `ExampleEventMsg` 类型的消息；
-- 此示例加载了 `example_event_ts_pkg`，其中提供了 `ExampleEventMsg` 类型的 type support 工具，作为回显时的序列化工具；
+- 此示例加载了 `example_event_ts_pkg`，其中提供了 `ExampleEventMsg` 和 `RosTestMsg` 类型的 type support 工具，作为回显时的序列化工具；
+- 请注意，echo 插件的原理是向 AimRT 订阅指定的 Topic，因此需要在 channel 配置中为该 topic 设置合适的后端，以保证插件能接收到数据；
+
+
+## echo with ros2 msg
+
+一个基于 **echo_plugin** 的回显消息示例，演示内容包括：
+- 如何在启动时加载 **echo_plugin**；
+- 如何回显指定 topic、msg 类型的数据；
+- 如何配置回显 ROS2 消息；
+
+
+核心代码：
+- [RosTestMsg.msg](../../../protocols/example_ros2/msg/RosTestMsg.msg)
+- [normal_publisher_module.cc](../../cpp/ros2_chn/module/normal_publisher_module/normal_publisher_module.cc)
+- [type_support_pkg_main.cc](./example_event_ts_pkg/type_support_pkg_main.cc)
+
+
+配置文件：
+- [examples_plugins_echo_plugin_ros2_cfg.yaml](./install/linux/bin/cfg/examples_plugins_echo_plugin_ros2_cfg.yaml)
+
+
+运行方式（linux）：
+- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_WITH_ROS2` 、`AIMRT_BUILD_WITH_ECHO_PLUGIN` 选项编译 AimRT；
+- 直接运行 build 目录下`start_examples_plugins_echo_plugin_ros2.sh`脚本启动进程；
+- 键入`ctrl-c`停止进程；
+
+
+说明：
+- 此示例创建了以下模块：
+  - `NormalPublisherModule`：会基于 `work_thread_pool` 执行器，以配置的频率、向配置的 topic 中发布 `RosTestMsg` 类型的消息；
+- 此示例加载了 `example_event_ts_pkg`，其中提供了 `ExampleEventMsg` 和 `RosTestMsg` 类型的 type support 工具，作为回显时的序列化工具；
 - 请注意，echo 插件的原理是向 AimRT 订阅指定的 Topic，因此需要在 channel 配置中为该 topic 设置合适的后端，以保证插件能接收到数据；
diff --git a/src/examples/plugins/echo_plugin/example_event_ts_pkg/CMakeLists.txt b/src/examples/plugins/echo_plugin/example_event_ts_pkg/CMakeLists.txt
index efd0a0e4f..928bb3094 100644
--- a/src/examples/plugins/echo_plugin/example_event_ts_pkg/CMakeLists.txt
+++ b/src/examples/plugins/echo_plugin/example_event_ts_pkg/CMakeLists.txt
@@ -30,9 +30,6 @@ target_link_libraries(
           aimrt::protocols::example_pb_gencode
           aimrt::interface::aimrt_module_ros2_interface
           example_ros2::example_ros2__rosidl_generator_cpp
-          example_ros2::example_ros2__rosidl_typesupport_cpp
-          example_ros2::example_ros2__rosidl_typesupport_fastrtps_cpp
-          example_ros2::example_ros2__rosidl_typesupport_introspection_cpp)
-
+          example_ros2::example_ros2__rosidl_typesupport_cpp)
 # Set misc of target
 set_target_properties(${CUR_TARGET_NAME} PROPERTIES OUTPUT_NAME ${CUR_DIR})
diff --git a/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_pb_cfg.yaml b/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_pb_cfg.yaml
index 90d2d6850..0cd0afca3 100644
--- a/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_pb_cfg.yaml
+++ b/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_pb_cfg.yaml
@@ -14,7 +14,7 @@ aimrt:
               msg_type: pb:aimrt.protocols.example.ExampleEventMsg    
               echo_type: json
   log:
-    core_lvl: Info # Trace/Debug/Info/Warn/Error/Fatal/Off
+    core_lvl: Info # Trace/Debug/Info
     backends:
       - type: console
   executor:
diff --git a/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_pb_executor_cfg.yaml b/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_pb_executor_cfg.yaml
index 287102691..44650c221 100644
--- a/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_pb_executor_cfg.yaml
+++ b/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_pb_executor_cfg.yaml
@@ -15,7 +15,7 @@ aimrt:
               msg_type: pb:aimrt.protocols.example.ExampleEventMsg    
               echo_type: json
   log:
-    core_lvl: Info # Trace/Debug/Info/Warn/Error/Fatal/Off
+    core_lvl: Info # Trace/Debug/Info
     backends:
       - type: console
   executor:
diff --git a/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_ros2_cfg.yaml b/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_ros2_cfg.yaml
index 67f6ccc0a..b4b70310b 100644
--- a/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_ros2_cfg.yaml
+++ b/src/examples/plugins/echo_plugin/install/linux/bin/cfg/examples_plugins_echo_plugin_ros2_cfg.yaml
@@ -20,7 +20,7 @@ aimrt:
               msg_type: ros2:example_ros2/msg/RosTestMsg    
               echo_type: yaml
   log:
-    core_lvl: Info # Trace/Debug/Info/Warn/Error/Fatal/Off
+    core_lvl: Info # Trace/Debug/Info
     backends:
       - type: console
   executor:
diff --git a/src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_pb_cfg.sh b/src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_pb.sh
similarity index 100%
rename from src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_pb_cfg.sh
rename to src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_pb.sh
diff --git a/src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_pb_executor_cfg.sh b/src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_pb_executor.sh
similarity index 100%
rename from src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_pb_executor_cfg.sh
rename to src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_pb_executor.sh
diff --git a/src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_ros2_cfg.sh b/src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_ros2.sh
similarity index 100%
rename from src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_ros2_cfg.sh
rename to src/examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_ros2.sh
diff --git a/src/examples/plugins/record_playback_plugin/CMakeLists.txt b/src/examples/plugins/record_playback_plugin/CMakeLists.txt
index d8bd8ef4e..9b0996a29 100644
--- a/src/examples/plugins/record_playback_plugin/CMakeLists.txt
+++ b/src/examples/plugins/record_playback_plugin/CMakeLists.txt
@@ -27,4 +27,6 @@ add_custom_target(
   COMMAND ${CMAKE_COMMAND} -E copy_directory ${CUR_INSTALL_SOURCE_DIR}/bin ${CMAKE_BINARY_DIR}
   DEPENDS aimrt::runtime::main #
           aimrt::examples::cpp::pb_chn::pb_chn_pub_pkg #
-          aimrt::examples::cpp::pb_chn::pb_chn_sub_pkg)
+          aimrt::examples::cpp::pb_chn::pb_chn_sub_pkg #
+          aimrt::examples::cpp::ros2_chn::ros2_chn_pub_pkg #
+          aimrt::examples::cpp::ros2_chn::ros2_chn_sub_pkg)
diff --git a/src/examples/plugins/record_playback_plugin/README.md b/src/examples/plugins/record_playback_plugin/README.md
index becadb31f..50da4fc4d 100644
--- a/src/examples/plugins/record_playback_plugin/README.md
+++ b/src/examples/plugins/record_playback_plugin/README.md
@@ -3,6 +3,7 @@
 
 ## imd record
 
+### pb 录包
 一个基于 **record_playback_plugin** 的录包示例，演示内容包括：
 - 如何在启动时加载 **record_playback_plugin**；
 - 如何录制指定 topic、msg 类型的数据；
@@ -21,7 +22,7 @@
 
 
 运行方式（linux）：
-- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_NET_PLUGIN`、`AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 选项编译 AimRT；
+- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_WITH_ROS2`、`AIMRT_BUILD_NET_PLUGIN`、`AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 选项编译 AimRT；
 - 直接运行 build 目录下`start_examples_plugins_record_playback_plugin_record_imd.sh`脚本启动进程；
 - 键入`ctrl-c`停止进程；
 
@@ -34,11 +35,39 @@
 - 此示例创建了一个 `my_imd_record` 的录包 action，会在进程启动时立即开始录制指定的 topic 下的 msg，录制下来的包存放在进程同目录下的 `bag` 路径下；
 - 请注意，录包的原理是向 AimRT 订阅指定的 Topic，因此需要在 channel 配置中为该 topic 设置合适的后端，以保证录包插件能接收到数据；
 
+### ros2 录包
+一个基于 **record_playback_plugin** 的录包示例，演示内容包括：
+- 如何在启动时加载 **record_playback_plugin**；
+- 如何录制 ROS2 消息；
+
+核心代码：
+- [RosTestMsg.msg](../../../protocols/example_ros2/msg/RosTestMsg.msg)
+- [normal_publisher_module.cc](../../cpp/ros2_chn/module/normal_publisher_module/normal_publisher_module.cc)
+- [normal_subscriber_module.cc](../../cpp/ros2_chn/module/normal_subscriber_module/normal_subscriber_module.cc)
+- [type_support_pkg_main.cc](./example_event_ts_pkg/type_support_pkg_main.cc)
+
+
+配置文件：
+- [examples_plugins_record_playback_plugin_record_ros2_imd_cfg.yaml](./install/linux/bin/cfg/examples_plugins_record_playback_plugin_record_ros2_imd_cfg.yaml)
+
+
+运行方式（linux）：
+- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_WITH_ROS2`、`AIMRT_BUILD_NET_PLUGIN`、`AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 选项编译 AimRT；
+- 直接运行 build 目录下`start_examples_plugins_record_playback_plugin_record_ros2_imd.sh`脚本启动进程；
+- 键入`ctrl-c`停止进程；
+
+
+说明：
+- 此示例创建了以下两个模块：
+  - `NormalPublisherModule`：会基于 `work_thread_pool` 执行器，以配置的频率、向配置的 topic 中发布 `RosTestMsg` 类型的消息；
+  - `NormalSubscriberModule`：会订阅配置的 topic 下的 `RosTestMsg` 类型的消息；
+- 此示例加载了 `example_event_ts_pkg`，其中提供了 `RosTestMsg` 类型的 type support 工具，作为录包时的序列化工具；
+- 此示例创建了一个 `my_imd_record` 的录包 action，会在进程启动时立即开始录制指定的 topic 下的 msg，录制下来的包存放在进程同目录下的 `bag` 路径下；
+- 请注意，录包的原理是向 AimRT 订阅指定的 Topic，因此需要在 channel 配置中为该 topic 设置合适的后端，以保证录包插件能接收到数据；
 
 
 ## signal record
 
-
 一个基于 **record_playback_plugin** 和 **net_plugin** 中 http 后端的通过信号触发录包的示例，演示内容包括：
 - 如何在启动时加载 **record_playback_plugin**；
 - 如何为 **record_playback_plugin** 提供的控制服务配置 http 后端；
@@ -58,7 +87,7 @@
 
 
 运行方式（linux）：
-- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_NET_PLUGIN`、`AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 选项编译 AimRT；
+- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_WITH_ROS2`、`AIMRT_BUILD_NET_PLUGIN`、`AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 选项编译 AimRT；
 - 直接运行 build 目录下`start_examples_plugins_record_playback_plugin_record_signal.sh`脚本启动进程；
 - 启动[tools](./install/linux/bin/tools)下的脚本并观察进程打印出来的日志：
   - 运行[record_playback_plugin_start_record.sh](./install/linux/bin/tools/record_playback_plugin_start_record.sh)脚本开始录制；
@@ -95,7 +124,7 @@
 
 
 运行方式（linux）：
-- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_NET_PLUGIN`、`AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 选项编译 AimRT；
+- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_WITH_ROS2`、`AIMRT_BUILD_NET_PLUGIN`、`AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 选项编译 AimRT；
 - 修改配置文件中 `bag_path` 项，改为希望播放的包的地址；
 - 直接运行 build 目录下`start_examples_plugins_record_playback_plugin_playback_imd.sh`脚本启动进程；
 - 键入`ctrl-c`停止进程；
@@ -131,7 +160,7 @@
 
 
 运行方式（linux）：
-- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_NET_PLUGIN`、`AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 选项编译 AimRT；
+- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_WITH_ROS2`、`AIMRT_BUILD_NET_PLUGIN`、`AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 选项编译 AimRT；
 - 修改配置文件中 `bag_path` 项，改为希望播放的包的地址；
 - 直接运行 build 目录下`start_examples_plugins_record_playback_plugin_playback_signal.sh`脚本启动进程；
 - 启动[tools](./install/linux/bin/tools)下的脚本并观察进程打印出来的日志：
diff --git a/src/examples/plugins/record_playback_plugin/example_event_ts_pkg/CMakeLists.txt b/src/examples/plugins/record_playback_plugin/example_event_ts_pkg/CMakeLists.txt
index 9ea547625..1b434408c 100644
--- a/src/examples/plugins/record_playback_plugin/example_event_ts_pkg/CMakeLists.txt
+++ b/src/examples/plugins/record_playback_plugin/example_event_ts_pkg/CMakeLists.txt
@@ -27,7 +27,10 @@ target_link_libraries(
   ${CUR_TARGET_NAME}
   PRIVATE aimrt::interface::aimrt_type_support_pkg_c_interface
           aimrt::interface::aimrt_module_protobuf_interface
-          aimrt::protocols::example_pb_gencode)
+          aimrt::protocols::example_pb_gencode
+          aimrt::interface::aimrt_module_ros2_interface
+          example_ros2::example_ros2__rosidl_generator_cpp
+          example_ros2::example_ros2__rosidl_typesupport_cpp)
 
 # Set misc of target
 set_target_properties(${CUR_TARGET_NAME} PROPERTIES OUTPUT_NAME ${CUR_DIR})
diff --git a/src/examples/plugins/record_playback_plugin/example_event_ts_pkg/type_support_pkg_main.cc b/src/examples/plugins/record_playback_plugin/example_event_ts_pkg/type_support_pkg_main.cc
index 5ef39dffb..1eca903ec 100644
--- a/src/examples/plugins/record_playback_plugin/example_event_ts_pkg/type_support_pkg_main.cc
+++ b/src/examples/plugins/record_playback_plugin/example_event_ts_pkg/type_support_pkg_main.cc
@@ -5,10 +5,15 @@
 
 #include "aimrt_module_protobuf_interface/util/protobuf_type_support.h"
 
+#include "aimrt_module_ros2_interface/util/ros2_type_support.h"
+
+#include "example_ros2/msg/ros_test_msg.hpp"
+
 #include "event.pb.h"
 
 static const aimrt_type_support_base_t* type_support_array[]{
-    aimrt::GetProtobufMessageTypeSupport<aimrt::protocols::example::ExampleEventMsg>()};
+    aimrt::GetProtobufMessageTypeSupport<aimrt::protocols::example::ExampleEventMsg>(),
+    aimrt::GetRos2MessageTypeSupport<example_ros2::msg::RosTestMsg>()};
 
 extern "C" {
 
diff --git a/src/examples/plugins/record_playback_plugin/install/linux/bin/cfg/examples_plugins_record_playback_plugin_record_ros2_imd_cfg.yaml b/src/examples/plugins/record_playback_plugin/install/linux/bin/cfg/examples_plugins_record_playback_plugin_record_ros2_imd_cfg.yaml
new file mode 100644
index 000000000..3b9769cd8
--- /dev/null
+++ b/src/examples/plugins/record_playback_plugin/install/linux/bin/cfg/examples_plugins_record_playback_plugin_record_ros2_imd_cfg.yaml
@@ -0,0 +1,69 @@
+# Copyright (c) 2023, AgiBot Inc.
+# All rights reserved.
+
+aimrt:
+  plugin:
+    plugins:
+      - name: ros2_plugin
+        path: ./libaimrt_ros2_plugin.so
+        options:
+          node_name: example_ros2msg_echo_plugin
+          executor_type: MultiThreaded # SingleThreaded/StaticSingleThreaded/MultiThreaded
+          executor_thread_num: 2
+      - name: record_playback_plugin
+        path: ./libaimrt_record_playback_plugin.so
+        options:
+          type_support_pkgs:
+            - path: ./libexample_event_ts_pkg.so
+          record_actions:
+            - name: my_imd_record
+              options:
+                bag_path: ./bag
+                max_bag_size_m: 2048
+                max_bag_num: 10
+                mode: imd # imd/signal
+                executor: record_thread # require thread safe!
+                topic_meta_list:
+                  - topic_name: test_topic
+                    msg_type: ros2:example_ros2/msg/RosTestMsg
+                    serialization_type: ros2 # optional
+  log:
+    core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
+    backends:
+      - type: console
+  executor:
+    executors:
+      - name: work_thread_pool
+        type: asio_thread
+        options:
+          thread_num: 4
+      - name: record_thread
+        type: simple_thread
+  channel:
+    backends:
+      - type: ros2
+    pub_topics_options:
+      - topic_name: "(.*)"
+        enable_backends: [ros2]
+    sub_topics_options:
+      - topic_name: "(.*)"
+        enable_backends: [ros2]
+  module:
+    pkgs:
+      - path: ./libros2_chn_pub_pkg.so
+        enable_modules: [NormalPublisherModule]
+      - path: ./libros2_chn_sub_pkg.so
+        enable_modules: [NormalSubscriberModule]
+    modules:
+      - name: NormalPublisherModule
+        log_lvl: INFO
+      - name: NormalSubscriberModule
+        log_lvl: INFO
+
+# Module custom configuration
+NormalPublisherModule:
+  topic_name: test_topic
+  channel_frq: 0.5
+
+NormalSubscriberModule:
+  topic_name: test_topic
diff --git a/src/examples/plugins/record_playback_plugin/install/linux/bin/start_examples_plugins_record_playback_plugin_record_imd.sh b/src/examples/plugins/record_playback_plugin/install/linux/bin/start_examples_plugins_record_playback_plugin_record_ros2_imd.sh
similarity index 68%
rename from src/examples/plugins/record_playback_plugin/install/linux/bin/start_examples_plugins_record_playback_plugin_record_imd.sh
rename to src/examples/plugins/record_playback_plugin/install/linux/bin/start_examples_plugins_record_playback_plugin_record_ros2_imd.sh
index d8cba5ae6..f336e1725 100755
--- a/src/examples/plugins/record_playback_plugin/install/linux/bin/start_examples_plugins_record_playback_plugin_record_imd.sh
+++ b/src/examples/plugins/record_playback_plugin/install/linux/bin/start_examples_plugins_record_playback_plugin_record_ros2_imd.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 
-./aimrt_main --cfg_file_path=./cfg/examples_plugins_record_playback_plugin_record_imd_cfg.yaml
+./aimrt_main --cfg_file_path=./cfg/examples_plugins_record_playback_plugin_record_ros2_imd_cfg.yaml
diff --git a/src/plugins/echo_plugin/echo_plugin.cc b/src/plugins/echo_plugin/echo_plugin.cc
index 9d714a7e3..cfb20c9dd 100644
--- a/src/plugins/echo_plugin/echo_plugin.cc
+++ b/src/plugins/echo_plugin/echo_plugin.cc
@@ -23,9 +23,7 @@ struct convert<aimrt::plugins::echo_plugin::EchoPlugin::Options> {
       node["type_support_pkgs"].push_back(type_support_pkg_node);
     }
 
-    if (!rhs.executor.empty()) {
-      node["executor"] = rhs.executor;
-    }
+    node["executor"] = rhs.executor;
 
     node["topic_meta_list"] = Node(NodeType::Sequence);
     for (const auto& topic_meta : rhs.topic_meta_list) {
@@ -173,7 +171,6 @@ bool EchoPlugin::Initialize(runtime::core::AimRTCore* core_ptr) noexcept {
     core_ptr_->RegisterHookFunc(
         runtime::core::AimRTCore::State::kPreShutdown,
         [this] {
-          Shutdown();
           SetLogger(aimrt::logger::GetSimpleLoggerRef());
         });
     plugin_options_node = options_;
@@ -218,14 +215,7 @@ void EchoPlugin::InitTypeSupport(Options::TypeSupportPkg& options) {
 
 void EchoPlugin::RegisterEchoChannel() {
   using namespace aimrt::runtime::core::channel;
-  using EchoFunc = std::function<void(uint64_t, MsgWrapper&)>;
-
-  struct Wrapper {
-    std::unordered_set<std::string> require_cache_serialization_types;
-    std::vector<EchoFunc> echo_func_vec;
-  };
-
-  std::unordered_map<TopicMetaKey, Wrapper, TopicMetaKey::Hash> echo_func_map;
+  using EchoFunc = std::function<void(MsgWrapper&)>;
 
   const auto& topic_meta_list = topic_meta_map_;
   AIMRT_TRACE("Echo plugin has {} topics.", topic_meta_list.size());
@@ -235,52 +225,38 @@ void EchoPlugin::RegisterEchoChannel() {
     EchoFunc echo_func;
     if (options_.executor.empty()) {
       echo_func = [this, echo_type{topic_meta.echo_type}](
-                      uint64_t cur_timestamp, MsgWrapper& msg_wrapper) {
+                      MsgWrapper& msg_wrapper) {
         Echo(msg_wrapper, echo_type);
       };
     } else {
       echo_func = [this, echo_type{topic_meta.echo_type}](
-                      uint64_t cur_timestamp, MsgWrapper& msg_wrapper) {
+                      MsgWrapper& msg_wrapper) {
         executor_.Execute([this, msg_wrapper{std::move(msg_wrapper)}, echo_type]() mutable {
           Echo(msg_wrapper, echo_type);
         });
       };
     }
-    auto& item = echo_func_map[topic_meta_itr.first];
-    item.require_cache_serialization_types.emplace(topic_meta.serialization_type);
-    item.echo_func_vec.emplace_back(std::move(echo_func));
-  }
 
-  AIMRT_TRACE("Register {} echo functions.", echo_func_map.size());
-
-  // subscribe
-  for (auto& echo_func_itr : echo_func_map) {
-    const auto& key = echo_func_itr.first;
-    auto& wrapper = echo_func_itr.second;
-    auto finditr = type_support_map_.find(key.msg_type);
+    auto finditr = type_support_map_.find(topic_meta.msg_type);
+    AIMRT_CHECK_ERROR_THROW(finditr != type_support_map_.end(),
+                            "Can not find type '{}' in any type support pkg!", topic_meta.msg_type);
 
     const auto& type_support_ref = finditr->second;
 
     SubscribeWrapper sub_wrapper;
     sub_wrapper.info = TopicInfo{
-        .msg_type = key.msg_type,
-        .topic_name = key.topic_name,
+        .msg_type = topic_meta.msg_type,
+        .topic_name = topic_meta.topic_name,
         .pkg_path = type_support_ref.options.path,
         .module_name = "core",
         .msg_type_support_ref = type_support_ref.type_support_ref};
 
-    sub_wrapper.require_cache_serialization_types = wrapper.require_cache_serialization_types;
-
-    sub_wrapper.callback = [echo_func_vec{std::move(wrapper.echo_func_vec)}](
+    sub_wrapper.require_cache_serialization_types.emplace(topic_meta.serialization_type);
+    sub_wrapper.callback = [echo_func{std::move(echo_func)}](
                                MsgWrapper& msg_wrapper, std::function<void()>&& release_callback) {
-      auto cur_timestamp = aimrt::common::util::GetCurTimestampNs();
-
-      for (const auto& echo_func : echo_func_vec)
-        echo_func(cur_timestamp, msg_wrapper);
-
+      echo_func(msg_wrapper);
       release_callback();
     };
-
     bool ret = core_ptr_->GetChannelManager().Subscribe(std::move(sub_wrapper));
     AIMRT_CHECK_ERROR_THROW(ret, "Subscribe failed!");
   }
@@ -301,9 +277,11 @@ void EchoPlugin::Echo(runtime::core::channel::MsgWrapper& msg_wrapper, std::stri
                 msg_wrapper.info.msg_type, echo_type);
     return;
   }
-  if (buffer_view_ptr && buffer_view_ptr->Data() && buffer_view_ptr->Size() > 0) {
+  if (buffer_view_ptr->Size() == 1) {
     const char* data = static_cast<const char*>(buffer_view_ptr->Data()[0].data);
-    AIMRT_INFO("\n{}\n---------------\n", std::string_view(data));
+    AIMRT_INFO("\n{}\n---------------\n", std::string_view(data, buffer_view_ptr->Data()[0].len));
+  } else if (buffer_view_ptr->Size() > 1) {
+    AIMRT_INFO("\n{}\n---------------\n", buffer_view_ptr->JoinToString());
   } else {
     AIMRT_ERROR("Invalid buffer, topic_name: {}, msg_type: {}", msg_wrapper.info.topic_name, msg_wrapper.info.msg_type);
   }
diff --git a/src/plugins/echo_plugin/topic_meta_key.h b/src/plugins/echo_plugin/topic_meta_key.h
index 061414d54..0c748b4e6 100644
--- a/src/plugins/echo_plugin/topic_meta_key.h
+++ b/src/plugins/echo_plugin/topic_meta_key.h
@@ -25,7 +25,6 @@ struct TopicMetaKey {
 };
 
 struct TopicMeta {
-  uint64_t id;
   std::string topic_name;
   std::string msg_type;
   std::string echo_type;