diff --git a/Cargo.lock b/Cargo.lock
index 13ab4fb2..46cd13aa 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2588,6 +2588,7 @@ dependencies = [
  "eyre",
  "futures",
  "pyo3",
+ "pyo3_special_method_derive",
  "serde",
  "serde_assert",
 ]
@@ -6556,9 +6557,9 @@ dependencies = [
 
 [[package]]
 name = "pyo3_special_method_derive"
-version = "0.1.0"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6ba8f52c03a4a510534a6cea6a44e3872a7287392e7c9b8ffe9a9409d736f10a"
+checksum = "e831c9f620de245243f105f2d764c59c32a853bd1c9fb34504116e0d6d094fad"
 dependencies = [
  "proc-macro2",
  "pyo3",
diff --git a/apis/python/node/Cargo.toml b/apis/python/node/Cargo.toml
index a51e0857..7d5cac89 100644
--- a/apis/python/node/Cargo.toml
+++ b/apis/python/node/Cargo.toml
@@ -25,7 +25,7 @@ arrow = { workspace = true, features = ["pyarrow"] }
 pythonize = { workspace = true }
 futures = "0.3.28"
 dora-ros2-bridge-python = { workspace = true }
-pyo3_special_method_derive = "0.1.0"
+pyo3_special_method_derive = "0.2.1"
 
 [lib]
 name = "dora"
diff --git a/apis/python/node/src/lib.rs b/apis/python/node/src/lib.rs
index d738d72e..00693d71 100644
--- a/apis/python/node/src/lib.rs
+++ b/apis/python/node/src/lib.rs
@@ -11,7 +11,7 @@ use eyre::Context;
 use futures::{Stream, StreamExt};
 use pyo3::prelude::*;
 use pyo3::types::{PyBytes, PyDict};
-use pyo3_special_method_derive::DirHelper;
+use pyo3_special_method_derive::Dir;
 
 /// The custom node API lets you integrate `dora` into your application.
 /// It allows you to retrieve input and send output in any fashion you want.
@@ -25,7 +25,7 @@ use pyo3_special_method_derive::DirHelper;
 /// ```
 ///
 #[pyclass]
-#[derive(DirHelper)]
+#[derive(Dir)]
 pub struct Node {
     events: Events,
     pub node: DoraNode,
diff --git a/libraries/extensions/ros2-bridge/python/Cargo.toml b/libraries/extensions/ros2-bridge/python/Cargo.toml
index fd1b8627..92bcad08 100644
--- a/libraries/extensions/ros2-bridge/python/Cargo.toml
+++ b/libraries/extensions/ros2-bridge/python/Cargo.toml
@@ -12,6 +12,7 @@ eyre = "0.6"
 serde = "1.0.166"
 arrow = { workspace = true, features = ["pyarrow"] }
 futures = "0.3.28"
+pyo3_special_method_derive = "0.2.1"
 
 [dev-dependencies]
 serde_assert = "0.7.1"
diff --git a/libraries/extensions/ros2-bridge/python/src/lib.rs b/libraries/extensions/ros2-bridge/python/src/lib.rs
index ee7f6830..7819cfaa 100644
--- a/libraries/extensions/ros2-bridge/python/src/lib.rs
+++ b/libraries/extensions/ros2-bridge/python/src/lib.rs
@@ -18,6 +18,7 @@ use pyo3::{
     types::{PyAnyMethods, PyDict, PyList, PyModule, PyModuleMethods},
     Bound, PyAny, PyObject, PyResult, Python,
 };
+use pyo3_special_method_derive::{Dict, Dir, Repr, Str};
 use typed::{deserialize::StructDeserializer, TypeInfo, TypedValue};
 
 pub mod qos;
@@ -45,6 +46,7 @@ pub mod typed;
 /// :type ros_paths: typing.List[str], optional
 ///
 #[pyclass]
+#[derive(Str, Repr, Dir, Dict)]
 pub struct Ros2Context {
     context: ros2_client::Context,
     messages: Arc<HashMap<String, HashMap<String, Message>>>,
@@ -147,6 +149,7 @@ impl Ros2Context {
 ///   See: https://github.com/jhelovuo/ros2-client/issues/4
 ///
 #[pyclass]
+#[derive(Str, Repr, Dir, Dict)]
 pub struct Ros2Node {
     node: ros2_client::Node,
     messages: Arc<HashMap<String, HashMap<String, Message>>>,
@@ -251,7 +254,7 @@ impl Ros2Node {
 /// ROS2 Node Options
 /// :type rosout: bool, optional
 ///
-#[derive(Debug, Clone, Default)]
+#[derive(Clone, Default, Str, Repr, Dir, Dict)]
 #[pyclass]
 #[non_exhaustive]
 pub struct Ros2NodeOptions {
@@ -281,6 +284,7 @@ impl From<Ros2NodeOptions> for ros2_client::NodeOptions {
 /// - dora Ros2 bridge functionality is considered **unstable**. It may be changed
 ///   at any point without it being considered a breaking change.
 #[pyclass]
+#[derive(Str, Repr, Dir, Dict)]
 #[non_exhaustive]
 pub struct Ros2Topic {
     topic: rustdds::Topic,
@@ -293,6 +297,7 @@ pub struct Ros2Topic {
 /// - dora Ros2 bridge functionality is considered **unstable**. It may be changed
 ///   at any point without it being considered a breaking change.
 #[pyclass]
+#[derive(Str, Repr, Dir, Dict)]
 #[non_exhaustive]
 pub struct Ros2Publisher {
     publisher: ros2_client::Publisher<TypedValue<'static>>,
@@ -363,6 +368,7 @@ impl Ros2Publisher {
 /// - dora Ros2 bridge functionality is considered **unstable**. It may be changed
 ///   at any point without it being considered a breaking change.
 #[pyclass]
+#[derive(Str, Repr, Dir, Dict)]
 #[non_exhaustive]
 pub struct Ros2Subscription {
     deserializer: StructDeserializer<'static>,
diff --git a/libraries/extensions/ros2-bridge/python/src/qos.rs b/libraries/extensions/ros2-bridge/python/src/qos.rs
index 626934f5..33412f56 100644
--- a/libraries/extensions/ros2-bridge/python/src/qos.rs
+++ b/libraries/extensions/ros2-bridge/python/src/qos.rs
@@ -1,5 +1,6 @@
 use ::dora_ros2_bridge::rustdds::{self, policy};
 use pyo3::prelude::{pyclass, pymethods};
+use pyo3_special_method_derive::{Dict, Dir, Repr, Str};
 
 /// ROS2 QoS Policy
 ///
@@ -12,7 +13,7 @@ use pyo3::prelude::{pyclass, pymethods};
 /// :type keep_last: int, optional
 /// :rtype: dora.Ros2QoSPolicies
 ///
-#[derive(Debug, Clone)]
+#[derive(Clone, Str, Repr, Dir, Dict)]
 #[pyclass]
 #[non_exhaustive]
 pub struct Ros2QosPolicies {
@@ -77,7 +78,7 @@ impl From<Ros2QosPolicies> for rustdds::QosPolicies {
 /// DDS 2.2.3.4 DURABILITY
 ///
 /// :rtype: dora.Ros2Durability
-#[derive(Copy, Clone, Debug, PartialEq, Eq, PartialOrd, Ord, Hash)]
+#[derive(Copy, Clone, PartialEq, Eq, PartialOrd, Ord, Hash, Str, Repr, Dir, Dict)]
 #[pyclass]
 pub enum Ros2Durability {
     Volatile,
@@ -103,7 +104,7 @@ impl From<Ros2Durability> for policy::Durability {
 
 /// DDS 2.2.3.11 LIVELINESS
 /// :rtype: dora.Ros2Liveliness
-#[derive(Copy, Clone, Debug, PartialEq)]
+#[derive(Copy, Clone, PartialEq, Str, Repr, Dir, Dict)]
 #[pyclass]
 pub enum Ros2Liveliness {
     Automatic,