diff --git a/Cargo.lock b/Cargo.lock
index 46f0eff..c41bb22 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -160,8 +160,15 @@ dependencies = [
 ]
 
 [[package]]
-name = "minimal-update-server-client"
+name = "minimal-update-client-server"
 version = "1.0.0"
+dependencies = [
+ "crossbeam",
+ "ctrlc",
+ "ncomm-core",
+ "ncomm-executors",
+ "ncomm-update-clients-and-servers",
+]
 
 [[package]]
 name = "ncomm-clients-and-servers"
diff --git a/Cargo.toml b/Cargo.toml
index 6d9c799..fda109a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -7,7 +7,7 @@ members = [
     "ncomm-clients-and-servers",
     "ncomm-update-clients-and-servers",
     "examples/minimal-client-server",
-    "examples/minimal-update-server-client",
+    "examples/minimal-update-client-server",
     "examples/minimal-publisher-subscriber",
 ]
 
@@ -19,6 +19,7 @@ default-members = [
     "ncomm-clients-and-servers",
     "ncomm-update-clients-and-servers",
 ]
+resolver = "2"
 
 [workspace.package]
 name = "ncomm"
diff --git a/examples/minimal-client-server/Cargo.toml b/examples/minimal-client-server/Cargo.toml
index f5539bf..909adbf 100644
--- a/examples/minimal-client-server/Cargo.toml
+++ b/examples/minimal-client-server/Cargo.toml
@@ -17,4 +17,4 @@ ncomm-executors = { workspace = true }
 ncomm-clients-and-servers = { workspace = true }
 crossbeam = { workspace = true }
 ctrlc = { workspace = true }
-rand = { workspace = true }
\ No newline at end of file
+rand = { workspace = true }
diff --git a/examples/minimal-update-server-client/Cargo.toml b/examples/minimal-update-client-server/Cargo.toml
similarity index 56%
rename from examples/minimal-update-server-client/Cargo.toml
rename to examples/minimal-update-client-server/Cargo.toml
index d194358..1f78fb8 100644
--- a/examples/minimal-update-server-client/Cargo.toml
+++ b/examples/minimal-update-client-server/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
-name = "minimal-update-server-client"
-description = "Minimal Update Server and Client example based on the [Ros 2 Tutorial](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html)"
+name = "minimal-update-client-server"
+description = "Minimal Update Client and Server example based on the [Ros 2 Tutorial](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html)"
 version.workspace = true
 edition.workspace = true
 license.workspace = true
@@ -12,3 +12,8 @@ authors.workspace = true
 categories.workspace = true
 
 [dependencies]
+ncomm-core = { workspace = true }
+ncomm-executors = { workspace = true }
+ncomm-update-clients-and-servers = { workspace = true }
+crossbeam = { workspace = true }
+ctrlc = { workspace = true }
diff --git a/examples/minimal-update-client-server/src/fibonacci_update_client.rs b/examples/minimal-update-client-server/src/fibonacci_update_client.rs
new file mode 100644
index 0000000..a9f7cb5
--- /dev/null
+++ b/examples/minimal-update-client-server/src/fibonacci_update_client.rs
@@ -0,0 +1,62 @@
+//!
+//! A Simple Update Client Example that sends a request for the nth term in the
+//! fibonacci series.
+//! 
+
+use super::{FibonacciRequest, FibonacciUpdate, FibonacciResponse};
+
+use ncomm_core::{Node, UpdateClient};
+use ncomm_update_clients_and_servers::local::LocalUpdateClient;
+
+/// A simple update client node that sends a request for the nth term in the
+/// fibonacci series, printing the numbers in the series before receiving the nth
+/// number in the series
+pub struct FibonacciUpdateClient {
+    update_client: LocalUpdateClient<FibonacciRequest, FibonacciUpdate, FibonacciResponse>,
+}
+
+impl FibonacciUpdateClient {
+    /// Create a new Fibonacci Update Client
+    pub fn new(update_client: LocalUpdateClient<FibonacciRequest, FibonacciUpdate, FibonacciResponse>) -> Self {
+        Self {
+            update_client,
+        }
+    }
+
+    /// Print the update messages received
+    pub fn handle_updates(&mut self) {
+        let updates = self.update_client.poll_for_updates();
+        for update in updates.iter() {
+            if let Ok((_request, update)) = update {
+                println!("Last Num: {} --- Current Num: {}", update.last_num, update.current_num);
+            }
+        }
+    }
+
+    /// Print the response message received and send a new request for the 10th order of
+    /// a fibonacci sequence
+    pub fn handle_response(&mut self) {
+        let responses = self.update_client.poll_for_responses();
+        for response in responses.iter() {
+            if let Ok((request, response)) = response {
+                println!("f(10) = {}", response.num);
+                self.update_client.send_request(request.clone()).unwrap();
+            }
+        }
+    }
+}
+
+impl Node for FibonacciUpdateClient {
+    fn get_update_delay_us(&self) -> u128 {
+        100_000
+    }
+
+    fn start(&mut self) {
+        self.update_client.send_request(FibonacciRequest { order: 10 }).unwrap();
+    }
+
+    fn update(&mut self) {
+        self.handle_updates();
+        self.handle_response();
+    }
+}
\ No newline at end of file
diff --git a/examples/minimal-update-client-server/src/fibonacci_update_server.rs b/examples/minimal-update-client-server/src/fibonacci_update_server.rs
new file mode 100644
index 0000000..1181390
--- /dev/null
+++ b/examples/minimal-update-client-server/src/fibonacci_update_server.rs
@@ -0,0 +1,94 @@
+//!
+//! An update server example that calculates the nth term in the
+//! fibonacci sequence, updating a client with each sequence of terms
+//! into the series
+//! 
+
+use super::{FibonacciRequest, FibonacciUpdate, FibonacciResponse};
+
+use ncomm_core::{Node, UpdateServer};
+use ncomm_update_clients_and_servers::local::{LocalUpdateClient, LocalUpdateServer};
+
+/// An update server node that calculates the nth term in the fibonacci
+/// sequence
+/// 
+/// Note: for this example, the update server only expects a single client but
+/// it would be trivial to make this update server capable of handling multiple
+/// clients.
+pub struct FibonacciUpdateServer {
+    last_num: u128,
+    current_num: u128,
+    order: u128,
+    current_order: u128,
+    current_request: Option<(String, FibonacciRequest)>,
+    update_server: LocalUpdateServer<FibonacciRequest, FibonacciUpdate, FibonacciResponse, String>,
+}
+
+impl FibonacciUpdateServer {
+    /// Create a new fibonacci update server
+    pub fn new() -> Self {
+        Self {
+            last_num: 1,
+            current_num: 1,
+            order: 1,
+            current_order: 1,
+            current_request: None,
+            update_server: LocalUpdateServer::new(),
+        }
+    }
+
+    /// Create a client for the fibonacci update server node
+    pub fn create_client(&mut self, client_name: String) -> LocalUpdateClient<FibonacciRequest, FibonacciUpdate, FibonacciResponse> {
+        self.update_server.create_update_client(client_name)
+    }
+
+    /// Check for requests
+    fn handle_requests(&mut self) {
+        if let Some(Ok((client, request))) = self.update_server.poll_for_requests().last() {
+            self.current_request = Some((client.clone(), request.clone()));
+            self.order = request.order;
+            self.last_num = 1;
+            self.current_num = 1;
+            self.current_order = 1;
+        }
+    }
+
+    /// Send Updates for the current client
+    fn send_updates(&mut self) {
+        if let Some((client_id, request)) = self.current_request.as_ref() {
+            let next_num = self.last_num + self.current_num;
+            self.last_num = self.current_num;
+            self.current_num = next_num;
+            self.update_server.send_update(
+                client_id.clone(),
+                &request,
+                FibonacciUpdate { last_num: self.last_num, current_num: self.current_num }
+            ).unwrap();
+            self.current_order += 1;
+        }
+    }
+
+    /// Send final response for the current client
+    fn send_response(&mut self) {
+        if self.current_request.is_some() && self.current_order == self.order {
+            let (client_id, request) = self.current_request.take().unwrap();
+            self.update_server.send_response(
+                client_id,
+                request,
+                FibonacciResponse { num: self.current_num }
+            ).unwrap();
+        }
+    }
+}
+
+impl Node for FibonacciUpdateServer {
+    fn get_update_delay_us(&self) -> u128 {
+        100_000
+    }
+
+    fn update(&mut self) {
+        self.handle_requests();
+        self.send_updates();
+        self.send_response();
+    }
+}
\ No newline at end of file
diff --git a/examples/minimal-update-client-server/src/main.rs b/examples/minimal-update-client-server/src/main.rs
new file mode 100644
index 0000000..e1f87d2
--- /dev/null
+++ b/examples/minimal-update-client-server/src/main.rs
@@ -0,0 +1,66 @@
+//!
+//! Example for a minimal update client and server where
+//! the server requests a a fibonacci value of some order and
+//! the server responds with updates containing the last and current
+//! value in a fibonacci series before it finds the fibonacci value of
+//! given degree which is returned as a response
+//! 
+
+#![deny(missing_docs)]
+
+use ncomm_core::Executor;
+use ncomm_executors::SimpleExecutor;
+
+use crossbeam::channel::unbounded;
+
+pub mod fibonacci_update_client;
+use fibonacci_update_client::FibonacciUpdateClient;
+
+pub mod fibonacci_update_server;
+use fibonacci_update_server::FibonacciUpdateServer;
+
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+/// A request asking for a the nth order of the fibonacci sequence.
+pub struct FibonacciRequest {
+    /// The nth term of the fibonacci sequence to compute
+    pub order: u128,
+}
+
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+/// An update containing the current last number and the current number
+/// the update server has currently computed.
+pub struct FibonacciUpdate {
+    /// The order n-1 term of the fibonacci sequence
+    pub last_num: u128,
+    /// The order n term of the fibonacci sequence
+    pub current_num: u128,
+}
+
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+/// A response containing the number at a given order of the fibonacci
+/// sequence.
+pub struct FibonacciResponse {
+    /// The order n term of the fibonacci sequence
+    pub num: u128,
+}
+
+fn main() {
+    let mut update_server_node = FibonacciUpdateServer::new();
+    let update_client_node = FibonacciUpdateClient::new(
+        update_server_node.create_client(String::from("Fibonacci Update Client"))
+    );
+
+    let (tx, rx) = unbounded();
+    ctrlc::set_handler(move || tx.send(true).expect("Unable to send data"))
+        .expect("Error setting Ctrl-C handler");
+
+    let mut executor = SimpleExecutor::new_with(
+        rx,
+        vec![
+            Box::new(update_client_node),
+            Box::new(update_server_node),
+        ]
+    );
+
+    executor.update_loop();
+}
diff --git a/examples/minimal-update-server-client/src/main.rs b/examples/minimal-update-server-client/src/main.rs
deleted file mode 100644
index e7a11a9..0000000
--- a/examples/minimal-update-server-client/src/main.rs
+++ /dev/null
@@ -1,3 +0,0 @@
-fn main() {
-    println!("Hello, world!");
-}
diff --git a/examples/minimal_update_service_client/.gitignore b/examples/minimal_update_service_client/.gitignore
deleted file mode 100644
index ea8c4bf..0000000
--- a/examples/minimal_update_service_client/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/target
diff --git a/examples/minimal_update_service_client/Cargo.lock b/examples/minimal_update_service_client/Cargo.lock
deleted file mode 100644
index 9abd61f..0000000
--- a/examples/minimal_update_service_client/Cargo.lock
+++ /dev/null
@@ -1,129 +0,0 @@
-# This file is automatically @generated by Cargo.
-# It is not intended for manual editing.
-version = 3
-
-[[package]]
-name = "bitflags"
-version = "1.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
-
-[[package]]
-name = "cfg-if"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
-
-[[package]]
-name = "ctrlc"
-version = "3.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a011bbe2c35ce9c1f143b7af6f94f29a167beb4cd1d29e6740ce836f723120e"
-dependencies = [
- "nix",
- "windows-sys",
-]
-
-[[package]]
-name = "libc"
-version = "0.2.144"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b00cc1c228a6782d0f076e7b232802e0c5689d41bb5df366f2a6b6621cfdfe1"
-
-[[package]]
-name = "minimal_update_service_client"
-version = "0.1.1"
-dependencies = [
- "ncomm",
-]
-
-[[package]]
-name = "ncomm"
-version = "0.2.0"
-dependencies = [
- "ctrlc",
-]
-
-[[package]]
-name = "nix"
-version = "0.26.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfdda3d196821d6af13126e40375cdf7da646a96114af134d5f417a9a1dc8e1a"
-dependencies = [
- "bitflags",
- "cfg-if",
- "libc",
- "static_assertions",
-]
-
-[[package]]
-name = "static_assertions"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
-
-[[package]]
-name = "windows-sys"
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-dependencies = [
- "windows-targets",
-]
-
-[[package]]
-name = "windows-targets"
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-dependencies = [
- "windows_aarch64_gnullvm",
- "windows_aarch64_msvc",
- "windows_i686_gnu",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_gnullvm",
- "windows_x86_64_msvc",
-]
-
-[[package]]
-name = "windows_aarch64_gnullvm"
-version = "0.48.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "91ae572e1b79dba883e0d315474df7305d12f569b400fcf90581b06062f7e1bc"
-
-[[package]]
-name = "windows_aarch64_msvc"
-version = "0.48.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b2ef27e0d7bdfcfc7b868b317c1d32c641a6fe4629c171b8928c7b08d98d7cf3"
-
-[[package]]
-name = "windows_i686_gnu"
-version = "0.48.0"
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-
-[[package]]
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-
-[[package]]
-name = "windows_x86_64_gnu"
-version = "0.48.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca2b8a661f7628cbd23440e50b05d705db3686f894fc9580820623656af974b1"
-
-[[package]]
-name = "windows_x86_64_gnullvm"
-version = "0.48.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7896dbc1f41e08872e9d5e8f8baa8fdd2677f29468c4e156210174edc7f7b953"
-
-[[package]]
-name = "windows_x86_64_msvc"
-version = "0.48.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a515f5799fe4961cb532f983ce2b23082366b898e52ffbce459c86f67c8378a"
diff --git a/examples/minimal_update_service_client/Cargo.toml b/examples/minimal_update_service_client/Cargo.toml
deleted file mode 100644
index cb87129..0000000
--- a/examples/minimal_update_service_client/Cargo.toml
+++ /dev/null
@@ -1,9 +0,0 @@
-[package]
-name = "minimal_update_service_client"
-version = "0.1.1"
-edition = "2021"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
-[dependencies]
-ncomm = { path = "../../", version = "0.2.0" }
\ No newline at end of file
diff --git a/examples/minimal_update_service_client/src/fibonacci_update_client.rs b/examples/minimal_update_service_client/src/fibonacci_update_client.rs
deleted file mode 100644
index c46fdee..0000000
--- a/examples/minimal_update_service_client/src/fibonacci_update_client.rs
+++ /dev/null
@@ -1,45 +0,0 @@
-use crate::fibonacci_update_server::{FibonacciRequest, FibonacciUpdate, FibonacciResponse};
-
-use ncomm::update_client_server::{UpdateClient, local::LocalUpdateClient};
-use ncomm::node::Node;
-
-pub struct FibonacciUpdateClient<'a> {
-    name: &'a str,
-    update_client: LocalUpdateClient<FibonacciRequest, FibonacciUpdate, FibonacciResponse>
-}
-
-impl<'a> FibonacciUpdateClient<'a> {
-    pub fn new(name: &'a str, update_client: LocalUpdateClient<FibonacciRequest, FibonacciUpdate, FibonacciResponse>) -> Self {
-        Self { name, update_client }
-    }
-}
-
-impl<'a> Node for FibonacciUpdateClient<'a> {
-    fn name(&self) -> String { String::from(self.name) }
-
-    fn get_update_delay(&self) -> u128 { 10u128 }
-
-    fn start(&mut self) {
-        self.update_client.send_request(FibonacciRequest { order: 10 }).unwrap();
-    }
-
-    fn update(&mut self) {
-        if let Some(update) = self.update_client.receive_update() {
-            println!("Received Update:");
-            println!("Last Num: {} --- Current Num: {}", update.last_num, update.current_num);
-        }
-
-        if let Some(response) = self.update_client.receive_response() {
-            println!("f(10) = {}", response.num);
-        }
-    }
-
-    fn shutdown(&mut self) {}
-
-    fn debug(&self) -> String {
-        format!(
-            "FIbonacci Update Client:\n{}",
-            self.name()
-        )
-    }
-}
\ No newline at end of file
diff --git a/examples/minimal_update_service_client/src/fibonacci_update_server.rs b/examples/minimal_update_service_client/src/fibonacci_update_server.rs
deleted file mode 100644
index 8ecb062..0000000
--- a/examples/minimal_update_service_client/src/fibonacci_update_server.rs
+++ /dev/null
@@ -1,80 +0,0 @@
-use ncomm::update_client_server::{UpdateServer, local::{LocalUpdateClient, LocalUpdateServer}};
-use ncomm::node::Node;
-
-#[derive(PartialEq, Clone)]
-pub struct FibonacciRequest {
-    pub order: u128,
-}
-
-#[derive(PartialEq, Clone)]
-pub struct FibonacciUpdate {
-    pub last_num: u128,
-    pub current_num: u128,
-}
-
-#[derive(PartialEq, Clone)]
-pub struct FibonacciResponse {
-    pub num: u128,
-}
-
-pub struct FibonacciUpdateServer<'a> {
-    name: &'a str,
-    last_num: u128,
-    current_num: u128,
-    order: u128,
-    current_order: u128,
-    update_server: LocalUpdateServer<FibonacciRequest, FibonacciUpdate, FibonacciResponse>,
-}
-
-impl<'a> FibonacciUpdateServer<'a> {
-    pub fn new(name: &'a str) -> Self {
-        Self { name, last_num: 0, current_num: 0, order: 0, current_order: 0, update_server: LocalUpdateServer::new() }
-    }
-
-    pub fn create_client(&mut self, client_name: String) -> LocalUpdateClient<FibonacciRequest, FibonacciUpdate, FibonacciResponse> {
-        self.update_server.create_update_client(client_name)
-    }
-}
-
-impl<'a> Node for FibonacciUpdateServer<'a> {
-    fn name(&self) -> String { String::from(self.name) }
-
-    fn get_update_delay(&self) -> u128 { 10u128 }
-
-    fn start(&mut self) {}
-
-    fn update(&mut self) {
-        let requests = self.update_server.receive_requests();
-        
-        if requests.len() > 0 {
-            self.last_num = 1;
-            self.current_num = 1;
-            self.current_order = 1;
-            self.order = requests[0].1.order;
-        } else {
-            if self.current_order < self.order {
-                let next_num = self.last_num + self.current_num;
-                self.last_num = self.current_num;
-                self.current_num = next_num;
-                for client in self.update_server.get_clients() {
-                    self.update_server.send_update(client, FibonacciUpdate { last_num: self.last_num, current_num: self.current_num });
-                }
-                self.current_order += 1;
-            } else if self.current_order == self.order  {
-                for client in self.update_server.get_clients() {
-                    self.update_server.send_response(client, FibonacciResponse { num: self.current_num });
-                }
-                self.current_order += 1;
-            }
-        }
-    }
-
-    fn shutdown(&mut self) {}
-
-    fn debug(&self) -> String {
-        format!(
-            "Fibonacci Update Server:\n{}",
-            self.name()
-        )
-    }
-}
\ No newline at end of file
diff --git a/examples/minimal_update_service_client/src/main.rs b/examples/minimal_update_service_client/src/main.rs
deleted file mode 100644
index eddc3ab..0000000
--- a/examples/minimal_update_service_client/src/main.rs
+++ /dev/null
@@ -1,24 +0,0 @@
-extern crate ncomm;
-
-use std::sync::mpsc;
-
-use ncomm::executor::{Executor, SingleThreadedExecutor, simple_executor::SimpleExecutor};
-
-pub mod fibonacci_update_server;
-pub mod fibonacci_update_client;
-
-use fibonacci_update_server::FibonacciUpdateServer;
-use fibonacci_update_client::FibonacciUpdateClient;
-
-fn main() {
-    let (_interrupt_tx, interrupt_rx) = mpsc::channel();
-
-    let mut server = FibonacciUpdateServer::new("fibonacci update server");
-    let mut client = FibonacciUpdateClient::new("fibonacci update client", server.create_client(String::from("fibonacci update client")));
-    let mut executor = SimpleExecutor::new(interrupt_rx);
-
-    executor.add_node(&mut server);
-    executor.add_node(&mut client);
-    executor.start();
-    executor.update_for_seconds(1);
-}