diff --git a/coresense_instrumentation_driver/include/coresense_instrumentation_driver/InstrumentationLifecycleNode.hpp b/coresense_instrumentation_driver/include/coresense_instrumentation_driver/InstrumentationLifecycleNode.hpp
index c26ceaf..a7fe3f0 100644
--- a/coresense_instrumentation_driver/include/coresense_instrumentation_driver/InstrumentationLifecycleNode.hpp
+++ b/coresense_instrumentation_driver/include/coresense_instrumentation_driver/InstrumentationLifecycleNode.hpp
@@ -17,6 +17,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "lifecycle_msgs/msg/state.hpp"
 #include "std_msgs/msg/string.hpp"
 #include "sensor_msgs/msg/laser_scan.hpp"
 #include "sensor_msgs/msg/image.hpp"
@@ -98,8 +99,24 @@ class InstrumentationLifecycleNode<sensor_msgs::msg::Image>: public rclcpp_lifec
 private:
   void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
 
+  void handleCreatePublisherRequest(
+    const std::shared_ptr<rmw_request_id_t> request_header,
+    const std::shared_ptr<coresense_instrumentation_interfaces::srv::CreatePublisher::Request> request,
+    const std::shared_ptr<coresense_instrumentation_interfaces::srv::CreatePublisher::Response> response);
+
+  void handleDeletePublisherRequest(
+    const std::shared_ptr<rmw_request_id_t> request_header,
+    const std::shared_ptr<coresense_instrumentation_interfaces::srv::DeletePublisher::Request> request,
+    const std::shared_ptr<coresense_instrumentation_interfaces::srv::DeletePublisher::Response> response);
+
+  rclcpp::Service<coresense_instrumentation_interfaces::srv::CreatePublisher>::SharedPtr
+    create_publisher_service_;
+  rclcpp::Service<coresense_instrumentation_interfaces::srv::DeletePublisher>::SharedPtr
+    delete_publisher_service_;
+
+  std::unordered_map<std::string, image_transport::Publisher> publishers_;
+
   rclcpp::Node::SharedPtr node_;
-  image_transport::Publisher pub_;
   image_transport::Subscriber sub_;
   std::string topic_;
   std::string topic_type_;
diff --git a/coresense_instrumentation_driver/src/coresense_instrumentation_driver/InstrumentationGeneric.cpp b/coresense_instrumentation_driver/src/coresense_instrumentation_driver/InstrumentationGeneric.cpp
index f9d3cb9..9d3c89b 100644
--- a/coresense_instrumentation_driver/src/coresense_instrumentation_driver/InstrumentationGeneric.cpp
+++ b/coresense_instrumentation_driver/src/coresense_instrumentation_driver/InstrumentationGeneric.cpp
@@ -60,13 +60,19 @@ InstrumentationLifecycleNode<TopicT>::on_configure(const rclcpp_lifecycle::State
   sub_ = this->create_subscription<TopicT>(
     topic_, 10,
     [this](const typename TopicT::SharedPtr msg) {
-      if (pub_) {
-        // TODO: Publicar en todos los publicadores que haya en publishers_
-        pub_->publish(std::make_unique<TopicT>(*msg));
+      for (auto & pub : publishers_) {
+        if (pub.second->get_subscription_count() > 0 && pub.second->is_activated()) {
+          pub.second->publish(std::make_unique<TopicT>(*msg));
+        }
       }
     });
 
-  pub_ = this->create_publisher<TopicT>("/coresense" + topic_, 10);
+  if (topic_[0] == '/') {
+    topic_ = topic_.substr(1);
+  }
+
+  auto pub = this->create_publisher<TopicT>("/coresense/" + topic_, 10);
+  publishers_.insert({topic_, pub});
 
   create_publisher_service_ =
     this->create_service<coresense_instrumentation_interfaces::srv::CreatePublisher>(
@@ -89,8 +95,9 @@ template<typename TopicT>
 typename rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 InstrumentationLifecycleNode<TopicT>::on_activate(const rclcpp_lifecycle::State &)
 {
-  // TODO: Activar todos los publicadores que haya en publishers_
-  pub_->on_activate();
+  for (auto & pub : publishers_) {
+    pub.second->on_activate();
+  }
 
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
@@ -99,8 +106,9 @@ template<typename TopicT>
 typename rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 InstrumentationLifecycleNode<TopicT>::on_deactivate(const rclcpp_lifecycle::State &)
 {
-  // TODO: Desactivar todos los publicadores que haya en publishers_
-  pub_->on_deactivate();
+  for (auto & pub : publishers_) {
+    pub.second->on_deactivate();
+  }
 
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
@@ -109,8 +117,10 @@ template<typename TopicT>
 typename rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 InstrumentationLifecycleNode<TopicT>::on_cleanup(const rclcpp_lifecycle::State &)
 {
-  // TODO: Limpiar todos los publicadores que haya en publishers_
-  pub_.reset();
+  for (auto & pub : publishers_) {
+    pub.second.reset();
+  }
+
   sub_.reset();
 
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
@@ -120,8 +130,10 @@ template<typename TopicT>
 typename rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 InstrumentationLifecycleNode<TopicT>::on_shutdown(const rclcpp_lifecycle::State &)
 {
-  // TODO: Limpiar todos los publicadores que haya en publishers_
-  pub_.reset();
+  for (auto & pub : publishers_) {
+    pub.second.reset();
+  }
+
   sub_.reset();
 
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
@@ -137,12 +149,24 @@ void InstrumentationLifecycleNode<TopicT>::handleCreatePublisherRequest(
 
   std::string new_topic = request->topic_name;
 
-  // TODO: Mirar si el topic existe
-  // TODO: Mirar si el topic contiene o no la /
-  auto new_pub = this->create_publisher<TopicT>("/coresense" + new_topic, 10);
+  if (new_topic[0] == '/') {
+    new_topic = new_topic.substr(1);
+  }
 
-  publishers_.insert({new_topic, new_pub});
+  for (auto & pub : publishers_) {
+    if (pub.first == new_topic) {
+      response->success = false;
+      return;
+    }
+  }
+
+  auto new_pub = this->create_publisher<TopicT>("/coresense/" + new_topic, 10);
 
+  if (this->get_current_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) {
+    new_pub->on_activate();
+  }
+
+  publishers_.insert({new_topic, new_pub});
   response->success = true;
 }
 
@@ -156,11 +180,17 @@ void InstrumentationLifecycleNode<TopicT>::handleDeletePublisherRequest(
 
   std::string remove_topic = request->topic_name;
 
-  // TODO: Mirar si el topic existe
-  // TODO: Mirar si el topic contiene o no la /
+  if (remove_topic[0] == '/') {
+    remove_topic = remove_topic.substr(1);
+  }
 
-  publishers_.erase(remove_topic);
+  for (auto & pub : publishers_) {
+    if (pub.first == remove_topic) {
+      pub.second.reset();
+    }
+  }
 
+  publishers_.erase(remove_topic);
   response->success = true;
 }
 
diff --git a/coresense_instrumentation_driver/src/coresense_instrumentation_driver/InstrumentationImage.cpp b/coresense_instrumentation_driver/src/coresense_instrumentation_driver/InstrumentationImage.cpp
index ded88de..6146b4e 100644
--- a/coresense_instrumentation_driver/src/coresense_instrumentation_driver/InstrumentationImage.cpp
+++ b/coresense_instrumentation_driver/src/coresense_instrumentation_driver/InstrumentationImage.cpp
@@ -42,8 +42,10 @@ InstrumentationLifecycleNode<sensor_msgs::msg::Image>::~InstrumentationLifecycle
 void InstrumentationLifecycleNode<sensor_msgs::msg::Image>::imageCallback(
   const sensor_msgs::msg::Image::ConstSharedPtr & msg)
 {
-  if (pub_ && pub_.getNumSubscribers() > 0) {
-    pub_.publish(msg);
+  for (auto & pub : publishers_) {
+    if (pub.second.getNumSubscribers() > 0) {
+      pub.second.publish(msg);
+    }
   }
 }
 
@@ -69,7 +71,22 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 InstrumentationLifecycleNode<sensor_msgs::msg::Image>::on_activate(const rclcpp_lifecycle::State &)
 {
   image_transport::ImageTransport it(node_);
-  pub_ = it.advertise("/coresense" + topic_, 1);
+  auto pub = it.advertise("/coresense" + topic_, 1);
+  publishers_.insert({topic_, pub});
+
+  create_publisher_service_ =
+    this->create_service<coresense_instrumentation_interfaces::srv::CreatePublisher>(
+    "/coresense" + topic_ + "/create_publisher",
+    std::bind(
+      &InstrumentationLifecycleNode<sensor_msgs::msg::Image>::handleCreatePublisherRequest, this,
+      std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+
+  delete_publisher_service_ =
+    this->create_service<coresense_instrumentation_interfaces::srv::DeletePublisher>(
+    "/coresense" + topic_ + "/delete_publisher",
+    std::bind(
+      &InstrumentationLifecycleNode<sensor_msgs::msg::Image>::handleDeletePublisherRequest, this,
+      std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
 
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
@@ -78,6 +95,8 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 InstrumentationLifecycleNode<sensor_msgs::msg::Image>::on_deactivate(
   const rclcpp_lifecycle::State &)
 {
+  publishers_.erase(topic_);
+
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
 
@@ -103,6 +122,49 @@ std::string InstrumentationLifecycleNode<sensor_msgs::msg::Image>::get_topic_typ
   return topic_type_;
 }
 
+void InstrumentationLifecycleNode<sensor_msgs::msg::Image>::handleCreatePublisherRequest(
+  const std::shared_ptr<rmw_request_id_t> request_header,
+  const std::shared_ptr<coresense_instrumentation_interfaces::srv::CreatePublisher::Request> request,
+  const std::shared_ptr<coresense_instrumentation_interfaces::srv::CreatePublisher::Response> response)
+{
+  (void)request_header;
+
+  std::string new_topic = request->topic_name;
+
+  if (new_topic[0] == '/') {
+    new_topic = new_topic.substr(1);
+  }
+
+  for (auto & pub : publishers_) {
+    if (pub.first == new_topic) {
+      response->success = false;
+      return;
+    }
+  }
+
+  image_transport::ImageTransport it(node_);
+  auto new_pub = it.advertise("/coresense/" + new_topic, 1);
+  publishers_.insert({new_topic, new_pub});
+  response->success = true;
+}
+
+void InstrumentationLifecycleNode<sensor_msgs::msg::Image>::handleDeletePublisherRequest(
+  const std::shared_ptr<rmw_request_id_t> request_header,
+  const std::shared_ptr<coresense_instrumentation_interfaces::srv::DeletePublisher::Request> request,
+  const std::shared_ptr<coresense_instrumentation_interfaces::srv::DeletePublisher::Response> response)
+{
+  (void)request_header;
+
+  std::string remove_topic = request->topic_name;
+
+  if (remove_topic[0] == '/') {
+    remove_topic = remove_topic.substr(1);
+  }
+
+  publishers_.erase(remove_topic);
+  response->success = true;
+}
+
 } // namespace coresense_instrumentation_driver
 
 #include "rclcpp_components/register_node_macro.hpp"