diff --git a/examples/rpi_pico_w/CMakeLists.txt b/examples/rpi_pico_w/CMakeLists.txt
index 6c85e66b4..33e96870d 100644
--- a/examples/rpi_pico_w/CMakeLists.txt
+++ b/examples/rpi_pico_w/CMakeLists.txt
@@ -99,9 +99,11 @@ endfunction()
 add_example(z_get)
 add_example(z_pub)
 add_example(z_pub_st)
+add_example(z_pub_thr)
 add_example(z_pull)
 add_example(z_put)
 add_example(z_queryable)
 add_example(z_scout)
 add_example(z_sub)
 add_example(z_sub_st)
+add_example(z_sub_thr)
diff --git a/examples/rpi_pico_w/z_pub_thr.c b/examples/rpi_pico_w/z_pub_thr.c
new file mode 100644
index 000000000..38f63be56
--- /dev/null
+++ b/examples/rpi_pico_w/z_pub_thr.c
@@ -0,0 +1,89 @@
+//
+// Copyright (c) 2024 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//
+
+#include <stdio.h>
+#include <zenoh-pico.h>
+
+#if Z_FEATURE_PUBLICATION == 1
+
+#define IFACE "#iface=lo"  // Not used by this platform, but should be present
+#define KEYEXPR "test/thr"
+#define PAYLOAD_SIZE 8
+
+void z_free_with_context(void *ptr, void *context) {
+    (void)context;
+    z_free(ptr);
+}
+
+void app_main(void) {
+    uint8_t *value = (uint8_t *)z_malloc(PAYLOAD_SIZE);
+    memset(value, 1, PAYLOAD_SIZE);
+
+    // Set config
+    z_owned_config_t config;
+    z_config_default(&config);
+    zp_config_insert(z_loan_mut(config), Z_CONFIG_MODE_KEY, ZENOH_CONFIG_MODE);
+    if (strcmp(ZENOH_CONFIG_CONNECT, "") != 0) {
+        printf("Connect endpoint: %s\n", ZENOH_CONFIG_CONNECT);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
+    }
+    if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+    }
+
+    printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);
+    z_owned_session_t s;
+    if (z_open(&s, z_move(config), NULL) < 0) {
+        printf("Unable to open session!\n");
+        return;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        z_drop(z_move(s));
+        return;
+    }
+
+    // Declare publisher
+    z_owned_publisher_t pub;
+    z_view_keyexpr_t ke;
+    z_view_keyexpr_from_str(&ke, KEYEXPR);
+    if (z_declare_publisher(z_loan(s), &pub, z_loan(ke), NULL) < 0) {
+        printf("Unable to declare publisher for key expression!\n");
+        return;
+    }
+
+    printf("Send packets\n");
+    z_owned_bytes_t payload;
+    z_bytes_from_buf(&payload, value, PAYLOAD_SIZE, z_free_with_context, NULL);
+    while (1) {
+        // Clone payload
+        z_owned_bytes_t p;
+        z_bytes_clone(&p, z_loan(payload));
+        z_publisher_put(z_loan(pub), z_move(p), NULL);
+    }
+
+    // Clean-up
+    z_drop(z_move(pub));
+    z_drop(z_move(s));
+    z_drop(z_move(payload));
+}
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+    return -2;
+}
+#endif
diff --git a/examples/rpi_pico_w/z_sub_thr.c b/examples/rpi_pico_w/z_sub_thr.c
new file mode 100644
index 000000000..568ca5559
--- /dev/null
+++ b/examples/rpi_pico_w/z_sub_thr.c
@@ -0,0 +1,119 @@
+//
+// Copyright (c) 2024 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <zenoh-pico.h>
+
+#if Z_FEATURE_SUBSCRIPTION == 1
+
+#define IFACE "#iface=lo"  // Not used by this platform, but should be present
+#define KEYEXPR "test/thr"
+
+#define PACKET_NB 1000000
+
+typedef struct {
+    volatile unsigned long count;
+    volatile unsigned long finished_rounds;
+    z_clock_t start;
+    z_clock_t first_start;
+} z_stats_t;
+
+z_stats_t *z_stats_make(void) {
+    z_stats_t *stats = malloc(sizeof(z_stats_t));
+    stats->count = 0;
+    stats->finished_rounds = 0;
+    stats->first_start.tv_nsec = 0;
+    return stats;
+}
+
+void on_sample(z_loaned_sample_t *sample, void *context) {
+    (void)sample;
+    z_stats_t *stats = (z_stats_t *)context;
+    stats->count++;
+    // Start set measurement
+    if (stats->count == 1) {
+        stats->start = z_clock_now();
+        if (stats->first_start.tv_nsec == 0) {
+            stats->first_start = stats->start;
+        }
+    } else if (stats->count >= PACKET_NB) {
+        // Stop set measurement
+        stats->finished_rounds++;
+        unsigned long elapsed_ms = z_clock_elapsed_ms(&stats->start);
+        printf("%f msg/s\n", (double)(PACKET_NB * 1000) / (double)elapsed_ms);
+        stats->count = 0;
+    }
+}
+
+void drop_stats(void *context) {
+    z_stats_t *stats = (z_stats_t *)context;
+    unsigned long elapsed_ms = z_clock_elapsed_ms(&stats->first_start);
+    const unsigned long sent_messages = PACKET_NB * stats->finished_rounds + stats->count;
+    printf("Stats after unsubscribing: received %ld messages over %lu miliseconds (%.1f msg/s)\n", sent_messages,
+           elapsed_ms, (double)(sent_messages * 1000) / (double)elapsed_ms);
+    free(context);
+}
+
+void app_main(void) {
+    z_owned_config_t config;
+    z_config_default(&config);
+    zp_config_insert(z_loan_mut(config), Z_CONFIG_MODE_KEY, ZENOH_CONFIG_MODE);
+    if (strcmp(ZENOH_CONFIG_CONNECT, "") != 0) {
+        printf("Connect endpoint: %s\n", ZENOH_CONFIG_CONNECT);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
+    }
+    if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+    }
+
+    printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);
+    z_owned_session_t s;
+    if (z_open(&s, z_move(config), NULL) < 0) {
+        printf("Unable to open session!\n");
+        return;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        z_drop(z_move(s));
+        return;
+    }
+    // Declare Subscriber/resource
+    z_stats_t *context = z_stats_make();
+    z_owned_closure_sample_t callback;
+    z_closure(&callback, on_sample, drop_stats, (void *)context);
+    z_view_keyexpr_t ke;
+    z_view_keyexpr_from_str(&ke, KEYEXPR);
+    if (z_declare_background_subscriber(z_loan(s), z_loan(ke), z_move(callback), NULL) < 0) {
+        printf("Unable to declare subscriber.\n");
+        return;
+    }
+
+    while (1) {
+        z_sleep_s(1);
+    }
+
+    // Clean-up
+    z_drop(z_move(s));
+}
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
+}
+#endif