diff --git a/rclrs/logging_demo/Cargo.toml b/rclrs/logging_demo/Cargo.toml
index 998221a..f882db6 100644
--- a/rclrs/logging_demo/Cargo.toml
+++ b/rclrs/logging_demo/Cargo.toml
@@ -1,5 +1,5 @@
 [package]
-name = "examples_logging_demo"
+name = "examples_rclrs_logging_demo"
 version = "0.5.0"
 edition = "2021"
 
diff --git a/rclrs/logging_demo/package.xml b/rclrs/logging_demo/package.xml
index dc81dcd..6b075ea 100644
--- a/rclrs/logging_demo/package.xml
+++ b/rclrs/logging_demo/package.xml
@@ -3,12 +3,12 @@
    href="http://download.ros.org/schema/package_format3.xsd"
    schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>examples_logging_demo</name>
+  <name>examples_rclrs_logging_demo</name>
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
   <maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
   <version>0.5.0</version>
-  <description>Package containing an example of how to use a worker in rclrs.</description>
+  <description>Package containing an example of how to use logging rclrs.</description>
   <license>Apache License 2.0</license>
 
   <depend>rclrs</depend>
diff --git a/rclrs/parameter_demo/Cargo.toml b/rclrs/parameter_demo/Cargo.toml
index d1cb2cf..f631289 100644
--- a/rclrs/parameter_demo/Cargo.toml
+++ b/rclrs/parameter_demo/Cargo.toml
@@ -1,5 +1,5 @@
 [package]
-name = "examples_parameter_demo"
+name = "examples_rclrs_parameter_demo"
 version = "0.5.0"
 edition = "2021"
 
diff --git a/rclrs/parameter_demo/package.xml b/rclrs/parameter_demo/package.xml
index 58e4275..67458be 100644
--- a/rclrs/parameter_demo/package.xml
+++ b/rclrs/parameter_demo/package.xml
@@ -3,12 +3,12 @@
    href="http://download.ros.org/schema/package_format3.xsd"
    schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>examples_parameter_demo</name>
+  <name>examples_rclrs_parameter_demo</name>
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
   <maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
   <version>0.5.0</version>
-  <description>Package containing an example of how to use a worker in rclrs.</description>
+  <description>Package containing an example of how to use parameters rclrs.</description>
   <license>Apache License 2.0</license>
 
   <depend>rclrs</depend>
diff --git a/rclrs/worker_demo/Cargo.toml b/rclrs/worker_demo/Cargo.toml
index dabab8f..7d7b4b0 100644
--- a/rclrs/worker_demo/Cargo.toml
+++ b/rclrs/worker_demo/Cargo.toml
@@ -1,5 +1,5 @@
 [package]
-name = "examples_worker_demo"
+name = "examples_rclrs_worker_demo"
 version = "0.5.0"
 edition = "2021"
 
diff --git a/rclrs/worker_demo/package.xml b/rclrs/worker_demo/package.xml
index 88fac2a..bf34fdb 100644
--- a/rclrs/worker_demo/package.xml
+++ b/rclrs/worker_demo/package.xml
@@ -3,7 +3,7 @@
    href="http://download.ros.org/schema/package_format3.xsd"
    schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>examples_worker_demo</name>
+  <name>examples_rclrs_worker_demo</name>
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
   <maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
diff --git a/rclrs/worker_demo/src/main.rs b/rclrs/worker_demo/src/main.rs
index 253a95f..e931c14 100644
--- a/rclrs/worker_demo/src/main.rs
+++ b/rclrs/worker_demo/src/main.rs
@@ -1,5 +1,5 @@
 use rclrs::*;
-use std::sync::Arc;
+use std::time::Duration;
 
 fn main() -> Result<(), RclrsError> {
     let mut executor = Context::default_from_env()?.create_basic_executor();
@@ -15,27 +15,18 @@ fn main() -> Result<(), RclrsError> {
         },
     )?;
 
-    // // Use this timer-based implementation when timers are available instead
-    // // of using std::thread::spawn.
-    // let _timer = worker.create_timer_repeating(
-    //     Duration::from_secs(1),
-    //     move |data: &mut String| {
-    //         let msg = example_interfaces::msg::String {
-    //             data: data.clone()
-    //         };
-
-    //         publisher.publish(msg).ok();
-    //     }
-    // )?;
-
-    std::thread::spawn(move || loop {
-        std::thread::sleep(std::time::Duration::from_secs(1));
-        let publisher = Arc::clone(&publisher);
-        let _ = worker.run(move |data: &mut String| {
-            let msg = example_interfaces::msg::String { data: data.clone() };
-            publisher.publish(msg).unwrap();
-        });
-    });
+    // Use this timer-based implementation when timers are available instead
+    // of using std::thread::spawn.
+    let _timer = worker.create_timer_repeating(
+        Duration::from_secs(1),
+        move |data: &mut String| {
+            let msg = example_interfaces::msg::String {
+                data: data.clone()
+            };
+
+            publisher.publish(msg).ok();
+        }
+    )?;
 
     println!(
         "Beginning repeater... \n >> \