diff --git a/agent/mqtt.py b/agent/mqtt.py
index 59f824f..8118237 100755
--- a/agent/mqtt.py
+++ b/agent/mqtt.py
@@ -24,7 +24,7 @@
 
 from rclpy.node import Node
 
-from muto_msgs.msg import Gateway, MutoActionMeta
+from muto_msgs.msg import Gateway, MutoActionMeta, Thing, ThingHeaders
 
 from paho.mqtt.client import Client, MQTTv5
 from paho.mqtt.properties import Properties
@@ -47,6 +47,8 @@ def __init__(self):
         self.declare_parameter("agent_to_gateway_topic", "msg1")
         self.declare_parameter("gateway_to_agent_topic", "msg2")
 
+        self.declare_parameter("thing_messages_topic", "thing_messages")
+
         # Initialize Parameters
         self.host = self.get_parameter("host").value
         self.port = self.get_parameter("port").value
@@ -60,6 +62,8 @@ def __init__(self):
         self.agent_to_gateway_topic = self.get_parameter("agent_to_gateway_topic").value
         self.gateway_to_agent_topic = self.get_parameter("gateway_to_agent_topic").value
 
+        self.thing_messages_topic = self.get_parameter("thing_messages_topic").value
+
         # MQTT Client
         self.mqtt = Client(
             client_id=f"{self.name}_{self.get_clock().now()}",
@@ -82,6 +86,7 @@ def __init__(self):
         self.pub_agent = self.create_publisher(Gateway, self.gateway_to_agent_topic, 10)
         self.sub_agent = self.create_subscription(Gateway, self.agent_to_gateway_topic, self.agent_msg_callback, 10)
 
+        self.pub_thing = self.create_publisher(Thing, self.thing_messages_topic, 10)
 
     def __del__(self):
         self.mqtt.loop_stop()
@@ -143,27 +148,32 @@ def on_message(self, client, userdata, message):
         properties = message.properties
 
         # Create "meta" if ResponseTopic and CorrelationData exists in message properties
-        ResponseTopic = None
-        CorrelationData = None
         meta = MutoActionMeta()
 
-        if hasattr(properties, "ResponseTopic") and hasattr(properties, "CorrelationData"):
-            ResponseTopic = properties.ResponseTopic
-            CorrelationData = properties.CorrelationData.decode("utf-8")
-
-            meta.response_topic = ResponseTopic
-            meta.correlation_data = CorrelationData
+        if hasattr(properties, "ResponseTopic"):
+            meta.response_topic = properties.ResponseTopic
+        if hasattr(properties, "CorrelationData"):
+            meta.correlation_data = properties.CorrelationData.decode("utf-8")
 
-        # Send message to agent
         thingmsg = json.loads(payload)
-        twinmsg = []
-        if bool(thingmsg.get('topic', None)):
-            twinmsg  = re.findall('.*/things/twin/events/(.*)', thingmsg['topic'])
-        if len(twinmsg) > 0 and bool(twinmsg[0]):
-            change = twinmsg[0]
-            logmsg = f"{self.name} received event {topic} {thingmsg['topic']} {change} {thingmsg.get('path', None)}  {thingmsg.get('value',None)}"
-            self.get_logger().info(logmsg)
-        else:
+        
+        try:
+            parsed  = re.findall(".*/things/([^/]*)/([^/]*)/(.*)", thingmsg["topic"])[0]
+        
+            if len(parsed) > 2 and bool(parsed[0]):
+                channel = parsed[0]
+                criterion = parsed[1]
+                action = parsed[2].split('/')
+                if (channel == "live") and (criterion == "messages") and (action[0] == "agent"):
+                    self.send_to_agent(topic, payload, meta)
+                else:
+                    self.publish_thing_message(thingmsg, channel, action[0], meta)
+            else:
+                self.get_logger().info(f"ERROR: incompatible type")
+                # TODO: implement
+ 
+        except:
+            # TODO: remove this after making changes to the dashboard
             self.send_to_agent(topic, payload, meta)
 
     def send_to_agent(self, topic, payload, meta):
@@ -200,6 +210,30 @@ def agent_msg_callback(self, data):
 
         self.mqtt.publish(response_topic, payload, properties=properties)
 
+    def publish_thing_message(self, payload, channel, action, meta):
+        """
+        TODO: add docs.
+        """
+        thing_headers = ThingHeaders()
+
+        headers = payload.get("headers", None)
+        if headers:
+            thing_headers.reply_to = headers.get("reply-to", "")
+            thing_headers.correlation_id = headers.get("correlation-id", "")
+            thing_headers.ditto_originator = headers.get("ditto-originator", "")
+            thing_headers.response_required = headers.get("response-required", "")
+            thing_headers.content_type = headers.get("content-type", "")
+
+        msg_thing = Thing()
+        msg_thing.topic = payload.get("topic", "")
+        msg_thing.headers = thing_headers
+        msg_thing.path = payload.get("path", "")
+        msg_thing.value = json.dumps(payload.get("value", ""))
+        msg_thing.channel = channel
+        msg_thing.action = action
+        msg_thing.meta = meta
+        
+        self.pub_thing.publish(msg_thing)
 
 def main():
     rclpy.init()
diff --git a/config/agent.yaml b/config/agent.yaml
index 76919eb..32eebe3 100755
--- a/config/agent.yaml
+++ b/config/agent.yaml
@@ -29,6 +29,8 @@
     agent_to_commands_topic: "agent_to_command"
     commands_to_agent_topic: "command_to_agent"
 
+    thing_messages_topic: "thing_messages"
+
 muto_agent:
   ros__parameters:
     type: simulator
@@ -41,6 +43,7 @@ mqtt_gateway:
     keep_alive: 60
     user: null
     password: null
+    prefix: muto
     namespace: org.eclipse.muto.sandbox
     name: f1tenth-01
 
diff --git a/package.xml b/package.xml
index fffb41d..490ea78 100755
--- a/package.xml
+++ b/package.xml
@@ -11,6 +11,7 @@
 
   <depend>rclpy</depend>
   <depend>ros2launch</depend>
+  <depend>muto_msgs</depend>
   <depend>python-paho-mqtt-pip</depend>
 
   <export>