diff --git a/formant_ros2_adapter/scripts/README.md b/formant_ros2_adapter/scripts/README.md
new file mode 100644
index 0000000..49d287a
--- /dev/null
+++ b/formant_ros2_adapter/scripts/README.md
@@ -0,0 +1,4 @@
+## Tests (Python)
+
+1. At the root folder (in formant_ros2_adapter/scripts) run the following command
+    - `python -m unittest ./tests/test_subscribers_batched.py`
\ No newline at end of file
diff --git a/formant_ros2_adapter/scripts/components/subscriber/base_ingester.py b/formant_ros2_adapter/scripts/components/subscriber/base_ingester.py
new file mode 100644
index 0000000..35c15fe
--- /dev/null
+++ b/formant_ros2_adapter/scripts/components/subscriber/base_ingester.py
@@ -0,0 +1,174 @@
+from cv_bridge import CvBridge
+import cv2
+import grpc
+from typing import Dict
+from sensor_msgs.msg import (
+    BatteryState,
+    CompressedImage,
+    Image,
+    LaserScan,
+    NavSatFix,
+    PointCloud2,
+)
+from .types import STRING_TYPES, BOOL_TYPES, NUMERIC_TYPES, OTHER_DATA_TYPES
+
+from formant.sdk.agent.v1 import Client
+from formant.protos.model.v1.datapoint_pb2 import Datapoint
+from formant.sdk.agent.v1.localization.types import (
+    PointCloud as FPointCloud,
+    Map as FMap,
+    Path as FPath,
+    Transform as FTransform,
+    Goal as FGoal,
+    Odometry as FOdometry,
+    Vector3 as FVector3,
+    Quaternion as FQuaternion,
+)
+
+from utils.logger import get_logger
+from ros2_utils.message_utils import (
+    get_ros2_type_from_string,
+    message_to_json,
+    get_message_path_value,
+)
+
+"""
+A Handle Exceptions Class would be nice
+"""
+
+
+class BaseIngester:
+    def __init__(self, _fclient: Client):
+        self._fclient = _fclient
+        self.cv_bridge = CvBridge()
+        self._logger = get_logger()
+
+    def prepare(
+        self,
+        msg,
+        msg_type: type,
+        formant_stream: str,
+        topic: str,
+        msg_timestamp: int,
+        tags: Dict,
+    ):
+        msg = self._preprocess(msg, msg_type)
+
+        if msg_type in STRING_TYPES:
+            msg = self._fclient.prepare_text(
+                stream=formant_stream, value=msg, tags=tags, timestamp=msg_timestamp
+            )
+
+        elif msg_type in BOOL_TYPES:
+            msg = self._fclient.prepare_bitset(
+                stream=formant_stream, value=msg, tags=tags, timestamp=msg_timestamp
+            )
+        elif msg_type in NUMERIC_TYPES:
+            msg = self._fclient.prepare_numeric(
+                stream=formant_stream, value=msg, tags=tags, timestamp=msg_timestamp
+            )
+
+        elif msg_type == NavSatFix:
+
+            msg = self._fclient.prepare_geolocation(
+                stream=formant_stream,
+                latitude=msg.latitude,
+                longitude=msg.longitude,
+                altitude=msg.altitude,
+                tags=tags,
+                timestamp=msg_timestamp,
+            )
+
+        elif msg_type == Image:
+            msg = self._fclient.prepare_image(
+                stream=formant_stream,
+                value=msg,
+                tags=tags,
+                timestamp=msg_timestamp,
+            )
+        elif msg_type == CompressedImage:
+            msg = self._fclient.prepare_image(
+                stream=formant_stream,
+                value=msg["value"],
+                content_type=msg["content_type"],
+                tags=tags,
+                timestamp=msg_timestamp,
+            )
+
+        elif msg_type == BatteryState:
+            msg = self._fclient.prepare_battery(
+                stream=formant_stream,
+                percentage=msg.percentage,
+                voltage=msg.voltage,
+                current=msg.current,
+                charge=msg.charge,
+                tags=tags,
+                timestamp=msg_timestamp,
+            )
+
+        elif msg_type == LaserScan:
+            msg = Datapoint(
+                stream=formant_stream,
+                point_cloud=FPointCloud.from_ros_laserscan(msg).to_proto(),
+                tags=tags,
+                timestamp=msg_timestamp,
+            )
+
+        elif msg_type == PointCloud2:
+            msg = Datapoint(
+                stream=formant_stream,
+                point_cloud=FPointCloud.from_ros(msg).to_proto(),
+                tags=tags,
+                timestamp=msg_timestamp,
+            )
+
+        else:
+            msg = self._fclient.prepare_json(
+                stream=formant_stream,
+                value=msg,
+                tags=tags,
+                timestamp=msg_timestamp,
+            )
+        return msg
+
+    def _preprocess(self, msg, msg_type: type):
+
+        if msg_type in STRING_TYPES:
+            msg = self._prepare_string(msg)
+        elif msg_type in BOOL_TYPES or msg_type in NUMERIC_TYPES:
+            msg = self._prepare_attr_data(msg)
+        elif msg_type == Image:
+            msg = self._prepare_image(msg)
+
+        elif msg_type == CompressedImage:
+            msg = self._prepare_compressed_image(msg)
+
+        elif msg_type not in OTHER_DATA_TYPES:
+            msg = message_to_json(msg)
+
+        return msg
+
+    def _prepare_string(self, msg):
+        msg = self._prepare_attr_data(msg)
+        msg = str(msg)
+        return msg
+
+    def _prepare_image(self, msg):
+        cv_image = self.cv_bridge.imgmsg_to_cv2(msg, "bgr8")
+        encoded_image = cv2.imencode(".jpg", cv_image)[1].tobytes()
+        return encoded_image
+
+    def _prepare_compressed_image(self, msg):
+        if "jpg" in msg.format or "jpeg" in msg.format:
+            content_type = "image/jpg"
+        elif "png" in msg.format:
+            content_type = "image/png"
+        else:
+            self._logger.warn("Image format", msg.format, "not supported")
+            return
+        return {"value": bytes(msg.data), "content_type": content_type}
+
+    def _prepare_attr_data(self, msg):
+        if hasattr(msg, "data"):
+            msg = msg.data
+        return msg
diff --git a/formant_ros2_adapter/scripts/components/subscriber/basic_subscriber_coodinator.py b/formant_ros2_adapter/scripts/components/subscriber/basic_subscriber_coodinator.py
index a018763..ba24415 100644
--- a/formant_ros2_adapter/scripts/components/subscriber/basic_subscriber_coodinator.py
+++ b/formant_ros2_adapter/scripts/components/subscriber/basic_subscriber_coodinator.py
@@ -11,6 +11,7 @@
 from configuration.config_schema import ConfigSchema
 from configuration.subscriber_config import SubscriberConfig, MessagePathConfig
 from .ingester import Ingester
+from .batched_ingester import BatchIngester
 from ros2_utils.qos import QOS_PROFILES, qos_profile_system_default
 from ros2_utils.topic_type_provider import TopicTypeProvider
 from utils.logger import get_logger
@@ -30,7 +31,7 @@ def __init__(
         self,
         fclient: Client,
         node: Node,
-        ingester: Ingester,
+        ingester: BatchIngester,
         topic_type_provider: TopicTypeProvider,
     ):
         self._fclient = fclient
diff --git a/formant_ros2_adapter/scripts/components/subscriber/batched_ingester.py b/formant_ros2_adapter/scripts/components/subscriber/batched_ingester.py
new file mode 100644
index 0000000..24c61bd
--- /dev/null
+++ b/formant_ros2_adapter/scripts/components/subscriber/batched_ingester.py
@@ -0,0 +1,69 @@
+from .base_ingester import BaseIngester
+from formant.protos.agent.v1 import agent_pb2
+from formant.protos.model.v1 import datapoint_pb2
+from formant.sdk.agent.v1 import Client
+from queue import LifoQueue
+from typing import Dict, List
+import threading
+import time
+
+MAX_INGEST_SIZE = 10
+
+
+class BatchIngester(BaseIngester):
+    def __init__(
+        self, _fclient: Client, ingest_interval: int = 0.04, num_threads: int = 2
+    ):
+        super(BatchIngester, self).__init__(_fclient)
+        self._stream_queues: Dict[str, LifoQueue] = {}
+        self._ingest_interval = ingest_interval
+        self._num_threads = num_threads
+        self._threads: List[threading.Thread] = []
+        self._terminate_flag = False
+
+        self._start()
+
+    def ingest(
+        self,
+        msg,
+        msg_type: type,
+        formant_stream: str,
+        topic: str,
+        msg_timestamp: int,
+        tags: Dict,
+    ):
+        message = self.prepare(
+            msg, msg_type, formant_stream, topic, msg_timestamp, tags
+        )
+        has_stream = formant_stream in self._stream_queues
+        if not has_stream:
+            self._stream_queues[formant_stream] = LifoQueue()
+
+        self._stream_queues[formant_stream].put(message)
+
+    def _ingest_once(self):
+
+        for _, queue in self._stream_queues.items():
+            ingest_size = min(queue.qsize(), MAX_INGEST_SIZE)
+            datapoints = [queue.get() for _ in range(ingest_size)]
+
+            self._fclient.post_data_multi(datapoints)
+
+    def _ingest_continually(self):
+        while not self._terminate_flag:
+            self._ingest_once()
+            time.sleep(self._ingest_interval)
+
+    def _start(self):
+        self._terminate_flag = False
+        for i in range(self._num_threads):
+            self._threads.append(
+                threading.Thread(
+                    target=self._ingest_continually,
+                    daemon=True,
+                )
+            )
+            self._threads[i].start()
+
+    def terminate(self):
+        self._terminate_flag = True
diff --git a/formant_ros2_adapter/scripts/components/subscriber/ingester.py b/formant_ros2_adapter/scripts/components/subscriber/ingester.py
index 46794bd..7df8658 100644
--- a/formant_ros2_adapter/scripts/components/subscriber/ingester.py
+++ b/formant_ros2_adapter/scripts/components/subscriber/ingester.py
@@ -6,27 +6,10 @@
     BatteryState,
     CompressedImage,
     Image,
-    Joy,
     LaserScan,
     NavSatFix,
     PointCloud2,
 )
-from std_msgs.msg import (
-    Bool,
-    Char,
-    String,
-    Float32,
-    Float64,
-    Int8,
-    Int16,
-    Int32,
-    Int64,
-    UInt8,
-    UInt16,
-    UInt32,
-    UInt64,
-)
-
 from formant.sdk.agent.v1 import Client
 from formant.protos.model.v1.datapoint_pb2 import Datapoint
 from formant.sdk.agent.v1.localization.types import (
@@ -46,14 +29,11 @@
     message_to_json,
     get_message_path_value,
 )
+from .base_ingester import BaseIngester
+from .types import STRING_TYPES, BOOL_TYPES, NUMERIC_TYPES
 
 
-class Ingester:
-    def __init__(self, _fclient: Client):
-        self._fclient = _fclient
-        self.cv_bridge = CvBridge()
-        self._logger = get_logger()
-
+class Ingester(BaseIngester):
     def ingest(
         self,
         msg,
@@ -63,151 +43,12 @@ def ingest(
         msg_timestamp: int,
         tags: Dict,
     ):
+        msg = self.prepare(msg, msg_type, formant_stream, topic, msg_timestamp, tags)
 
-        # Handle the message based on its type
         try:
-            if msg_type in [str, String, Char]:
-                if hasattr(msg, "data"):
-                    msg = msg.data
-
-                self._fclient.post_text(
-                    formant_stream,
-                    str(msg),
-                    tags=tags,
-                    timestamp=msg_timestamp,
-                )
-
-            elif msg_type in [Bool, bool]:
-                if hasattr(msg, "data"):
-                    msg = msg.data
-
-                self._fclient.post_bitset(
-                    formant_stream,
-                    {topic: msg},
-                    tags=tags,
-                    timestamp=msg_timestamp,
-                )
-
-            elif msg_type in [
-                int,
-                float,
-                Float32,
-                Float64,
-                Int8,
-                Int16,
-                Int32,
-                Int64,
-                UInt8,
-                UInt16,
-                UInt32,
-                UInt64,
-            ]:
-                if hasattr(msg, "data"):
-                    msg = msg.data
-
-                self._fclient.post_numeric(
-                    formant_stream,
-                    msg,
-                    tags=tags,
-                    timestamp=msg_timestamp,
-                )
-
-            elif msg_type == NavSatFix:
-                # Convert NavSatFix to a Formant location
-                self._fclient.post_geolocation(
-                    stream=formant_stream,
-                    latitude=msg.latitude,
-                    longitude=msg.longitude,
-                    altitude=msg.altitude,
-                    tags=tags,
-                    timestamp=msg_timestamp,
-                )
-
-            elif msg_type == Image:
-                # Convert Image to a Formant image
-                cv_image = self.cv_bridge.imgmsg_to_cv2(msg, "bgr8")
-                encoded_image = cv2.imencode(".jpg", cv_image)[1].tobytes()
-
-                self._fclient.post_image(
-                    stream=formant_stream,
-                    value=encoded_image,
-                    tags=tags,
-                    timestamp=msg_timestamp,
-                )
-
-            elif msg_type == CompressedImage:
-                # Post the compressed image
-                if "jpg" in msg.format or "jpeg" in msg.format:
-                    content_type = "image/jpg"
-                elif "png" in msg.format:
-                    content_type = "image/png"
-                else:
-                    self._logger.warn("Image format", msg.format, "not supported")
-                    return
-                self._fclient.post_image(
-                    formant_stream,
-                    value=bytes(msg.data),
-                    content_type=content_type,
-                    tags=tags,
-                    timestamp=msg_timestamp,
-                )
-
-            elif msg_type == BatteryState:
-                self._fclient.post_battery(
-                    formant_stream,
-                    msg.percentage,
-                    voltage=msg.voltage,
-                    current=msg.current,
-                    charge=msg.charge,
-                    tags=tags,
-                    timestamp=msg_timestamp,
-                )
-
-            elif msg_type == LaserScan:
-                # Convert LaserScan to a Formant pointcloud
-                try:
-                    self._fclient.agent_stub.PostData(
-                        Datapoint(
-                            stream=formant_stream,
-                            point_cloud=FPointCloud.from_ros_laserscan(msg).to_proto(),
-                            tags=tags,
-                            timestamp=msg_timestamp,
-                        )
-                    )
-                except grpc.RpcError as e:
-                    return
-                except Exception as e:
-                    self._logger.error(
-                        "Could not ingest " + formant_stream + ": " + str(e)
-                    )
-                    return
-
-            elif msg_type == PointCloud2:
-                try:
-                    self._fclient.agent_stub.PostData(
-                        Datapoint(
-                            stream=formant_stream,
-                            point_cloud=FPointCloud.from_ros(msg).to_proto(),
-                            tags=tags,
-                            timestamp=msg_timestamp,
-                        )
-                    )
-                except grpc.RpcError as e:
-                    return
-                except Exception as e:
-                    self._logger.error(
-                        "Could not ingest " + formant_stream + ": " + str(e)
-                    )
-                    return
-
-            else:
-                # Ingest any messages without a direct mapping to a Formant type as JSON
-                self._fclient.post_json(
-                    formant_stream,
-                    message_to_json(msg),
-                    tags=tags,
-                    timestamp=msg_timestamp,
-                )
-
-        except AttributeError as e:
+            self._fclient.post_data(msg)
+        except grpc.RpcError as e:
+            return
+        except Exception as e:
             self._logger.error("Could not ingest " + formant_stream + ": " + str(e))
+            return
diff --git a/formant_ros2_adapter/scripts/components/subscriber/subscriber_coordinator.py b/formant_ros2_adapter/scripts/components/subscriber/subscriber_coordinator.py
index c5bea3c..c783d90 100644
--- a/formant_ros2_adapter/scripts/components/subscriber/subscriber_coordinator.py
+++ b/formant_ros2_adapter/scripts/components/subscriber/subscriber_coordinator.py
@@ -5,6 +5,7 @@
 from .basic_subscriber_coodinator import BasicSubscriberCoordinator
 from configuration.config_schema import ConfigSchema
 from .ingester import Ingester
+from .batched_ingester import BatchIngester
 from .localization_subscriber_coodinator import LocalizationSubscriberCoordinator
 from .numeric_set_subscriber_coodinator import NumericSetSubscriberCoordinator
 from ros2_utils.topic_type_provider import TopicTypeProvider
@@ -17,7 +18,7 @@ def __init__(
     ):
         self._logger = get_logger()
         self._fclient = fclient
-        self._ingester = Ingester(self._fclient)
+        self._ingester = self._choose_ingester()
         self._node = node
         self._topic_type_provider = topic_type_provider
         self._basic_subscriber_coodinator = BasicSubscriberCoordinator(
@@ -36,3 +37,11 @@ def setup_with_config(self, config: ConfigSchema):
         self._localization_subscriber_coordinator.setup_with_config(config)
         self._numeric_set_subscriber_coodinator.setup_with_config(config)
         self._logger.info("Set up Subscriber Coordinator")
+
+    def _choose_ingester(self):
+        has_batch_ingester = hasattr(self._fclient, "post_data_multi") and callable(
+            self._fclient.post_data_multi
+        )
+        if has_batch_ingester:
+            return BatchIngester(self._fclient)
+        return Ingester(self._fclient)
diff --git a/formant_ros2_adapter/scripts/components/subscriber/types.py b/formant_ros2_adapter/scripts/components/subscriber/types.py
new file mode 100644
index 0000000..98b222d
--- /dev/null
+++ b/formant_ros2_adapter/scripts/components/subscriber/types.py
@@ -0,0 +1,40 @@
+from std_msgs.msg import (
+    Bool,
+    Char,
+    String,
+    Float32,
+    Float64,
+    Int8,
+    Int16,
+    Int32,
+    Int64,
+    UInt8,
+    UInt16,
+    UInt32,
+    UInt64,
+)
+from sensor_msgs.msg import (
+    BatteryState,
+    LaserScan,
+    NavSatFix,
+    PointCloud2,
+)
+
+STRING_TYPES = [str, String, Char]
+BOOL_TYPES = [Bool, bool]
+NUMERIC_TYPES = [
+    int,
+    float,
+    Float32,
+    Float64,
+    Int8,
+    Int16,
+    Int32,
+    Int64,
+    UInt8,
+    UInt16,
+    UInt32,
+    UInt64,
+]
+
+OTHER_DATA_TYPES = [NavSatFix, BatteryState, LaserScan, PointCloud2]
diff --git a/formant_ros2_adapter/scripts/config.json b/formant_ros2_adapter/scripts/config.json
index 9e26dfe..c5b9c3e 100644
--- a/formant_ros2_adapter/scripts/config.json
+++ b/formant_ros2_adapter/scripts/config.json
@@ -1 +1,31 @@
-{}
\ No newline at end of file
+{
+    "ros2_adapter_configuration": {
+        "subscribers": [
+            {
+                "ros2_topic": "/my_string",
+                "ros2_message_type": "std_msgs/msg/String",
+                "formant_stream": "my.string"
+            },
+            {
+                "ros2_topic": "/my_velocity",
+                "ros2_message_type": "geometry_msgs/msg/Twist",
+                "formant_stream": "my.velocity.linear",
+                "ros2_message_paths": [
+                    {
+                        "path": "linear"
+                    }
+                ]
+            },
+            {
+                "ros2_topic": "/my_velocity",
+                "formant_stream": "my.velocity.angular",
+                "ros2_message_type": "geometry_msgs/msg/Twist",
+                "ros2_message_paths": [
+                    {
+                        "path": "angular"
+                    }
+                ]
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/formant_ros2_adapter/scripts/tests/test_subscribers_batched.py b/formant_ros2_adapter/scripts/tests/test_subscribers_batched.py
new file mode 100644
index 0000000..346fc1b
--- /dev/null
+++ b/formant_ros2_adapter/scripts/tests/test_subscribers_batched.py
@@ -0,0 +1,43 @@
+import unittest
+from formant.sdk.agent.v1 import Client
+from components.subscriber.batched_ingester import (
+    BatchIngester,
+)  # Replace with the actual import
+from queue import Empty
+import time
+
+
+class TestBatchIngester(unittest.TestCase):
+    def setUp(self):
+        self.fclient = Client()
+        self.ingester = BatchIngester(self.fclient, ingest_interval=1, num_threads=1)
+
+    def test_message_ingest(self):
+        self.ingester.ingest("msg", str, "stream1", "topic", 12345, {})
+
+        # Checking if the message is added to the correct stream queue
+        self.assertEqual(self.ingester._stream_queues["stream1"].qsize(), 1)
+
+    def test_queue_size_limit(self):
+        for i in range(15):  # Adding 15 messages
+            self.ingester.ingest(f"msg{i}", str, "stream1", "topic", 12345, {})
+
+        # Ingest once
+        self.ingester._ingest_once()
+
+        # Checking the remaining queue size (should be 15 - MAX_INGEST_SIZE)
+        self.assertEqual(self.ingester._stream_queues["stream1"].qsize(), 5)
+
+    def test_queue_flush(self):
+        for i in range(5):  # Adding 5 messages
+            self.ingester.ingest(f"msg{i}", str, "stream1", "topic", 12345, {})
+
+        # Wait for the ingest interval to pass (plus a small buffer)
+        time.sleep(1.2)
+
+        # The queue should be empty after one ingest interval
+        self.assertRaises(Empty, self.ingester._stream_queues["stream1"].get_nowait)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/tests/test_subscribers/test_subscribers_batched.sh b/tests/test_subscribers/test_subscribers_batched.sh
new file mode 100755
index 0000000..57eb7b4
--- /dev/null
+++ b/tests/test_subscribers/test_subscribers_batched.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+
+DEVICE="nicolas-container"
+TOPIC="/my_string"
+STREAM="my.string"
+
+source /opt/ros/*/setup.bash
+
+# How to get date formant required for fctl
+start_time=$(date -u +"%Y-%m-%dT%H:%M:%S")
+
+# Publish multiple messages in quick succession to trigger batching
+number_of_messages=20
+for i in $(seq 1 $number_of_messages); do
+    ros2 topic pub -t 2 -w 0 $TOPIC std_msgs/msg/String "data: {key: value_$i}" &
+    sleep 0.01  # Sleep for 10ms between messages
+done
+
+wait  # Wait for all background jobs to finish
+
+end_time=$(date -u +"%Y-%m-%dT%H:%M:%S")
+
+# Give some time for the BatchIngester to process and send the data
+# This time should be greater than the ingest_interval in BatchIngester
+sleep 1
\ No newline at end of file