diff --git a/.github/workflows/node-hub-ci-cd.yml b/.github/workflows/node-hub-ci-cd.yml
index 90df6f5a..81b85fd4 100644
--- a/.github/workflows/node-hub-ci-cd.yml
+++ b/.github/workflows/node-hub-ci-cd.yml
@@ -78,65 +78,11 @@ jobs:
       - name: Run Linting and Tests
         ## Run Linting and testing only on Mac for release workflows.
         if: runner.os == 'Linux' || github.event_name == 'workflow_dispatch' || (github.event_name == 'release' && startsWith(github.ref, 'refs/tags/'))
-        run: |
-          chmod +x ../../.github/workflows/node_hub_test.sh
-          ../../.github/workflows/node_hub_test.sh
-
-      - name: Publish Projects
-        if: github.event_name == 'workflow_dispatch' || (github.event_name == 'release' && startsWith(github.ref, 'refs/tags/'))
         env:
+          GITHUB_EVENT_NAME: ${{ github.event_name }}
           MATURIN_PYPI_TOKEN: ${{ secrets.PYPI_PASS }}
           UV_PUBLISH_TOKEN: ${{ secrets.PYPI_PASS }}
           CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}
         run: |
-          dir=$(pwd)
-          base_dir=$(basename "$dir")
-          ignored_folders=("dora-parler")
-
-          if [[ " ${ignored_folders[@]} " =~ " ${base_dir} " ]]; then
-              echo "Skipping $base_dir as there is a hf model fetching issue..."
-          else
-            if [[ -f "Cargo.toml" && -f "pyproject.toml" ]]; then
-              echo "Publishing $dir using maturin..."
-              if [[ "${{ runner.os }}" == "Linux" ]]; then
-                pip install "maturin[zig]"
-                
-                ## The CI/CD is sequential to limit the number of workers used.
-                
-                # x86_64-unknown-linux-gnu
-                maturin publish  --skip-existing --zig 
-                
-                # aarch64-unknown-linux-gnu
-                rustup target add aarch64-unknown-linux-gnu
-                maturin publish --target aarch64-unknown-linux-gnu --zig --skip-existing
-                
-                # armv7-unknown-linux-musleabihf
-                rustup target add armv7-unknown-linux-musleabihf
-                maturin publish --target armv7-unknown-linux-musleabihf --zig --skip-existing
-
-              else
-                pip install maturin
-                maturin publish  --skip-existing
-              fi
-            else
-              if [[ "${{ runner.os }}" == "Linux" ]]; then
-                if [ -f "pyproject.toml" ]; then
-                    echo "Publishing $dir using UV..."
-                    uv build
-                    uv publish --check-url https://pypi.org/simple
-                fi
-
-                if [ -f "Cargo.toml" ]; then
-                  echo "Publishing $dir using Cargo..."
-                  package_name=$(cargo metadata --no-deps --format-version=1 | jq -r '.packages[0].name')
-                  version=$(cargo metadata --no-deps --format-version=1 | jq -r '.packages[0].version')
-                  if cargo search "$package_name" | grep -q "^$package_name = \"$version\""; then
-                      echo "Package '$package_name' version '$version' already exists on crates.io. Skipping publish."
-                  else
-                      echo "Publishing package '$package_name' version '$version'..."
-                      cargo publish 
-                  fi
-                fi
-              fi
-            fi
-          fi
+          chmod +x ../../.github/workflows/node_hub_test.sh
+          ../../.github/workflows/node_hub_test.sh
diff --git a/.github/workflows/node_hub_test.sh b/.github/workflows/node_hub_test.sh
index 7899630b..bf7062a1 100755
--- a/.github/workflows/node_hub_test.sh
+++ b/.github/workflows/node_hub_test.sh
@@ -2,7 +2,10 @@
 set -euo
 
 # List of ignored modules 
-ignored_folders=("dora-internvl" "dora-parler" "dora-keyboard" "dora-microphone" "terminal-input")
+ignored_folders=("dora-parler")
+
+# Skip test
+skip_test_folders=("dora-internvl" "dora-parler" "dora-keyboard" "dora-microphone" "terminal-input")
 
 # Get current working directory
 dir=$(pwd)
@@ -23,15 +26,27 @@ else
         cargo test
 
         pip install "maturin[zig]"
-        maturin build --zig
-                
+        maturin build --zig --release
+        # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
+        if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
+            maturin publish --skip-existing --zig
+        fi
+
         # aarch64-unknown-linux-gnu
         rustup target add aarch64-unknown-linux-gnu
         maturin build --target aarch64-unknown-linux-gnu --zig
+        # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
+        if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
+            maturin publish --target aarch64-unknown-linux-gnu --skip-existing --zig
+        fi
                 
         # armv7-unknown-linux-musleabihf
         rustup target add armv7-unknown-linux-musleabihf
         maturin build --target armv7-unknown-linux-musleabihf --zig
+        # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
+        if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
+            maturin publish --target armv7-unknown-linux-musleabihf --skip-existing --zig
+        fi
     else
         if [ -f "$dir/Cargo.toml" ]; then
             echo "Running build and tests for Rust project in $dir..."
@@ -39,6 +54,10 @@ else
             cargo clippy
             cargo build
             cargo test
+
+            if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
+                cargo publish
+            fi
         else
             if [ -f "$dir/pyproject.toml" ]; then
             echo "CI: Installing in $dir..."
@@ -47,7 +66,15 @@ else
             echo "CI: Running Linting in $dir..."
             uv run ruff check .
             echo "CI: Running Pytest in $dir..."
-            uv run pytest
+            # Skip test for some folders
+            if [[ " ${skip_test_folders[@]} " =~ " ${base_dir} " ]]; then
+                echo "Skipping tests for $base_dir..."
+            else
+                uv run pytest
+            fi
+            if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
+                uv publish --check-url https://pypi.org/simple
+            fi
             fi
         fi 
     fi 
diff --git a/libraries/extensions/ros2-bridge/Cargo.toml b/libraries/extensions/ros2-bridge/Cargo.toml
index 3d64720d..b2cc901b 100644
--- a/libraries/extensions/ros2-bridge/Cargo.toml
+++ b/libraries/extensions/ros2-bridge/Cargo.toml
@@ -3,7 +3,7 @@ name = "dora-ros2-bridge"
 version.workspace = true
 edition.workspace = true
 license.workspace = true
-description = "Message generation for ROS2 bridge"
+description = "ROS2 bridge for dora-rs"
 links = "dora-ros2-bridge"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html