diff --git a/lrauv_ignition_plugins/CMakeLists.txt b/lrauv_ignition_plugins/CMakeLists.txt
index 0608a66f..5fb7e36d 100644
--- a/lrauv_ignition_plugins/CMakeLists.txt
+++ b/lrauv_ignition_plugins/CMakeLists.txt
@@ -207,6 +207,8 @@ install(
 foreach(EXAMPLE
   example_buoyancy
   example_controller
+  example_comms_client
+  example_comms_echo
   example_dvl_velocity
   example_elevator
   example_mass_shifter
@@ -220,6 +222,7 @@ foreach(EXAMPLE
 
   add_executable(${EXAMPLE_EXEC} example/${EXAMPLE}.cc)
   set_property(TARGET ${EXAMPLE_EXEC} PROPERTY CXX_STANDARD 17)
+  target_include_directories(${EXAMPLE_EXEC} PUBLIC include)
   target_link_libraries(${EXAMPLE_EXEC} PRIVATE
     gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
     dvl_velocity_tracking lrauv_acoustic_message lrauv_command lrauv_init
diff --git a/lrauv_ignition_plugins/example/example_comms_client.cc b/lrauv_ignition_plugins/example/example_comms_client.cc
new file mode 100644
index 00000000..6f8f09f5
--- /dev/null
+++ b/lrauv_ignition_plugins/example/example_comms_client.cc
@@ -0,0 +1,84 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+/*
+ * Development of this module has been funded by the Monterey Bay Aquarium
+ * Research Institute (MBARI) and the David and Lucile Packard Foundation
+ */
+
+/**
+ * This is a small example of usage of CommsClient to send and receive data
+ * packets using the acoustic subsystem. For more info:
+ * https://github.com/osrf/lrauv/wiki/Examples-and-tutorials#using-commsclient
+ *
+ * Usage:
+ *   $ ./LRAUV_example_comms_client
+ */
+
+#include <lrauv_ignition_plugins/comms/CommsClient.hh>
+
+using namespace tethys;
+using AcousticMsg = lrauv_ignition_plugins::msgs::LRAUVAcousticMessage;
+
+using namespace std::literals::chrono_literals;
+
+int main(int _argc, char **_argv)
+{
+  // For sending data
+  // Bind sender to address 1
+  constexpr int senderAddress = 1;
+  CommsClient sender(senderAddress, [](const auto){});
+
+  bool messageReceived = false;
+  std::mutex messageArrivalMutex;
+  std::condition_variable messageArrival;
+
+  // For receiving data
+  // Bind receiver to address 2
+  constexpr int receiverAddress = 2;
+  CommsClient receiver(receiverAddress, [&](const auto msg)
+  {
+    // Your callback function
+    // To get who the message is from
+    std::cout << "From: " << msg.from() << std::endl;
+    // To get the data call
+    std::cout << "Data: " << msg.data() << std::endl;
+
+    std::lock_guard<std::mutex> lock(messageArrivalMutex);
+    messageReceived = true;
+    messageArrival.notify_all();
+  });
+
+  AcousticMsg msg;
+  // Who to send to
+  msg.set_to(receiverAddress);
+  // From who
+  msg.set_from(senderAddress);
+  // Message type
+  msg.set_type(AcousticMsg::MessageType::LRAUVAcousticMessage_MessageType_Other);
+  // Adding the data
+  msg.set_data("test_message");
+  sender.SendPacket(msg);
+
+  using namespace std::literals::chrono_literals;
+  std::unique_lock<std::mutex> lock(messageArrivalMutex);
+  if (!messageArrival.wait_for(
+      lock, 5s, [&] { return messageReceived; }))
+  {
+    std::cout << "5s timeout, message not received." << std::endl;
+  }
+}
diff --git a/lrauv_ignition_plugins/example/example_comms_echo.cc b/lrauv_ignition_plugins/example/example_comms_echo.cc
new file mode 100644
index 00000000..158fb319
--- /dev/null
+++ b/lrauv_ignition_plugins/example/example_comms_echo.cc
@@ -0,0 +1,95 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+/*
+ * Development of this module has been funded by the Monterey Bay Aquarium
+ * Research Institute (MBARI) and the David and Lucile Packard Foundation
+ */
+
+/**
+ * This is a small example of usage of gazebo transport to send and receive
+ * data packets using the acoustic subsystem. For more info:
+ * https://github.com/osrf/lrauv/wiki/Examples-and-tutorials#direct-method
+ *
+ * Usage:
+ *   $ ./LRAUV_example_comms_echo
+ */
+
+#include <sstream>
+#include <unistd.h>
+#include <gz/transport/Node.hh>
+#include "lrauv_ignition_plugins/lrauv_acoustic_message.pb.h"
+
+int address = 1;
+gz::transport::Node::Publisher transmitter;
+using AcousticMsg = lrauv_ignition_plugins::msgs::LRAUVAcousticMessage;
+
+//////////////////////////////////////////////////
+/// \brief Function called each time a message is recieved by the comms subsystem.
+void cb(const lrauv_ignition_plugins::msgs::LRAUVAcousticMessage &_msg)
+{
+  std::cout << _msg.from() << ": " << _msg.data();
+
+  lrauv_ignition_plugins::msgs::LRAUVAcousticMessage returnMsg;
+  // Who to send to
+  returnMsg.set_to(_msg.from());
+
+  // From who
+  returnMsg.set_from(address);
+
+  // `LRAUVAcousticMessage_MessageType_Other` means its a data packet
+  returnMsg.set_type(AcousticMsg::MessageType::LRAUVAcousticMessage_MessageType_Other);
+
+  // The data
+  returnMsg.set_data(_msg.data());
+
+  // Send the data
+  transmitter.Publish(returnMsg);
+}
+
+int main(int argc, char** argv)
+{
+  gz::transport::Node node;
+
+  if (argc > 1)
+  {
+    std::istringstream ss(argv[1]);
+    if (!(ss >> address))
+    {
+      std::cerr << "Invalid number: " << argv[1]
+          << ". Using default value 1 instead." << std::endl;
+    }
+    else
+    {
+      if (!ss.eof())
+      {
+        std::cerr << "Trailing characters after number: " << argv[1]
+            << ". Using default value 1 instead." << std::endl;
+      }
+    }
+  }
+
+  transmitter = node.Advertise<lrauv_ignition_plugins::msgs::LRAUVAcousticMessage>(
+    "/comms/external/" + std::to_string(address) + "/tx");
+
+  node.Subscribe(
+    "/comms/external/" + std::to_string(address) + "/rx",
+    cb
+  );
+
+  gz::transport::waitForShutdown();
+}