diff --git a/Dockerfile b/Dockerfile
index fbc09a471..cdf29561a 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -129,7 +129,8 @@ COPY --from=apt-dependencies /tmp/apt /
 COPY --from=base-dependencies /tmp/deps /usr
 COPY dependencies/dependencies.cmake CMakeLists.txt
 RUN --mount=type=cache,target=/build,id=cmake-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  cmake -B build -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} && cmake --build build && cmake --install build --prefix /tmp/deps
+  cmake -B build -Dprotobuf_BUILD_TESTS=OFF -DCPPZMQ_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
+  && cmake --build build && cmake --install build --prefix /tmp/deps
 COPY --from=base-dependencies /tmp/deps /tmp/deps
 COPY --from=pinocchio-dependencies /tmp/deps /tmp/deps
 
diff --git a/apt-packages.txt b/apt-packages.txt
index 2988803ab..d080e8fe6 100644
--- a/apt-packages.txt
+++ b/apt-packages.txt
@@ -2,3 +2,4 @@ libboost-all-dev
 libeigen3-dev
 liburdfdom-dev
 libassimp-dev
+libzmq3-dev
diff --git a/dependencies/dependencies.cmake b/dependencies/dependencies.cmake
index 38830257c..99093b885 100644
--- a/dependencies/dependencies.cmake
+++ b/dependencies/dependencies.cmake
@@ -18,4 +18,12 @@ FetchContent_Declare(
   SOURCE_SUBDIR  cmake
 )
 
-FetchContent_MakeAvailable(OsqpEigen protobuf)
+FetchContent_Declare(
+  cppzmq
+  GIT_REPOSITORY https://github.com/zeromq/cppzmq/
+  GIT_TAG        v4.7.1
+)
+FetchContent_MakeAvailable(cppzmq)
+
+
+FetchContent_MakeAvailable(OsqpEigen protobuf cppzmq)
diff --git a/python/setup.py b/python/setup.py
index bed40e169..1476e8f06 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -12,13 +12,14 @@
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
 __version__ = "8.0.0"
-__libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
+__libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model', 'communicatoin_interfaces']
 __include_dirs__ = ['include']
 
 __install_clproto_module__ = True
 __install_controllers_module__ = True
 __install_dynamical_systems_module__ = True
 __install_robot_model_module__ = True
+__install_communication_interfaces_module__ = True
 
 # check that necessary libraries can be found
 try:
@@ -122,6 +123,17 @@
                           )
     )
 
+if __install_communication_interfaces_module__:
+    ext_modules.append(
+        Pybind11Extension('communication_interfaces',
+                          sorted(glob('source/communication_interfaces/*.cpp')),
+                          cxx_std=17,
+                          include_dirs=__include_dirs__,
+                          libraries=['communication_interfaces'],
+                          define_macros=[('MODULE_VERSION_INFO', __version__)],
+                          )
+    )
+
 setup(
     name='control-libraries',
     version=__version__,
diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
index c77afad44..7601102f2 100644
--- a/source/CMakeLists.txt
+++ b/source/CMakeLists.txt
@@ -7,6 +7,7 @@ option(BUILD_TESTING "Build all tests." OFF)
 option(BUILD_CONTROLLERS "Build and install controllers library" ON)
 option(BUILD_DYNAMICAL_SYSTEMS "Build and install dynamical systems library" ON)
 option(BUILD_ROBOT_MODEL "Build and install robot model library" ON)
+option(BUILD_COMMUNICATION_INTERFACES "Build and install communication interfaces library" ON)
 option(EXPERIMENTAL_FEATURES "Include experimental features" OFF)
 
 # Default to C99
@@ -78,6 +79,12 @@ if(BUILD_CONTROLLERS)
   add_pkgconfig_library(controllers ${PROJECT_VERSION})
 endif()
 
+if(BUILD_COMMUNICATION_INTERFACES)
+  add_subdirectory(communication_interfaces)
+  list(APPEND INSTALL_SUPPORTED_COMPONENTS communication_interfaces)
+  add_pkgconfig_library(communication_interfaces ${PROJECT_VERSION})
+endif()
+
 # generate the version file for the config file
 write_basic_package_version_file(
   "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
diff --git a/source/control_librariesConfig.cmake.in b/source/control_librariesConfig.cmake.in
index f244c2f63..4c580a77a 100644
--- a/source/control_librariesConfig.cmake.in
+++ b/source/control_librariesConfig.cmake.in
@@ -22,6 +22,12 @@ while(_control_libraries_to_find)
     set_and_check(control_libraries_NOT_FOUND_MESSAGE "Unsupported component: ${_comp}")
   endif()
 
+  # Find communication interfaces dependencies if the corresponding component is needed
+  # FIXME: this should be done automatically
+  if (${_comp} STREQUAL "communication_interfaces")
+    find_dependency(cppzmq)
+  endif()
+
   # Find robot model dependencies if the corresponding component is needed
   # FIXME: this should be done automatically
   if (${_comp} STREQUAL "robot_model")