diff --git a/EspIdf/EspIdfParticipant.cpp b/EspIdf/EspIdfParticipant.cpp
index 85c627a..099ae5c 100644
--- a/EspIdf/EspIdfParticipant.cpp
+++ b/EspIdf/EspIdfParticipant.cpp
@@ -126,8 +126,8 @@ void ParticipantUDP::Receive() {
 
 bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(IDF_VER)
-  // std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
-  //           << remoteParticipant->port << "\n";
+  std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
+            << remoteParticipant->port << "\n";
 
   int err = sendto(this->sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
                sizeof(dest_addr));
diff --git a/Messages/BinaryMsg.cpp b/Messages/BinaryMsg.cpp
index 7ab7f5d..7e8f6d8 100644
--- a/Messages/BinaryMsg.cpp
+++ b/Messages/BinaryMsg.cpp
@@ -2,33 +2,41 @@
 
 namespace RoboidControl {
 
-BinaryMsg::BinaryMsg(char* buffer) {
-  unsigned char ix = 1;
-  this->networkId = buffer[ix++];
-  this->thingId = buffer[ix++];
-  this->bytes = buffer + ix;  // This is only valid because the code ensures the the msg
-                              // lifetime is shorter than the buffer lifetime...
-}
-
 BinaryMsg::BinaryMsg(unsigned char networkId, Thing* thing) {
   this->networkId = networkId;
   this->thingId = thing->id;
   this->thing = thing;
+  unsigned char ix = BinaryMsg::length;
+  this->dataLength = this->thing->GenerateBinary(this->data, &ix);
 }
 
-BinaryMsg::~BinaryMsg() {}
+BinaryMsg::BinaryMsg(char* buffer) {
+  unsigned char ix = 1;
+  this->networkId = buffer[ix++];
+  this->thingId = buffer[ix++];
+  this->dataLength = buffer[ix++];
+  char* data = new char[this->dataLength];
+  for (int i = 0; i < this->dataLength; i++)
+    data[i] = buffer[ix++];
+  this->data = data;
+}
+
+BinaryMsg::~BinaryMsg() {
+  delete[] this->data;
+}
 
 unsigned char BinaryMsg::Serialize(char* buffer) {
-  unsigned char ix = this->length;
-  this->thing->GenerateBinary(buffer, &ix);
-  if (ix <= this->length)  // in this case, no data is actually sent
+  // unsigned char ix = this->length;
+  //  this->dataLength = this->thing->GenerateBinary(buffer, &ix);
+  if (this->dataLength <= 0)  // in this case, no data is actually sent
     return 0;
 
-  buffer[0] = this->id;
-  buffer[1] = this->networkId;
-  buffer[2] = this->thingId;
-  return ix;
+  unsigned char ix = 0;
+  buffer[ix++] = this->id;
+  buffer[ix++] = this->networkId;
+  buffer[ix++] = this->thingId;
+  buffer[ix++] = this->dataLength;
+  return this->length + this->dataLength;
 }
 
-
 }  // namespace RoboidControl
diff --git a/Messages/BinaryMsg.h b/Messages/BinaryMsg.h
index 0b03111..10adb90 100644
--- a/Messages/BinaryMsg.h
+++ b/Messages/BinaryMsg.h
@@ -10,7 +10,7 @@ class BinaryMsg : public IMessage {
   /// @brief The message ID
   static const unsigned char id = 0xB1;
   /// @brief The length of the message without the binary data itslef
-  static const unsigned length = 3;
+  static const unsigned length = 4;
 
   /// @brief The network ID of the thing
   unsigned char networkId;
@@ -19,8 +19,9 @@ class BinaryMsg : public IMessage {
   /// @brief The thing for which the binary data is communicated
   Thing* thing;
 
+  unsigned char dataLength;
   /// @brief The binary data which is communicated
-  char* bytes = nullptr;
+  char* data = nullptr;
 
   /// @brief Create a new message for sending
   /// @param networkId The network ID of the thing
diff --git a/Messages/Messages.cpp b/Messages/Messages.cpp
index e21662f..d9f1a8c 100644
--- a/Messages/Messages.cpp
+++ b/Messages/Messages.cpp
@@ -1,7 +1,6 @@
 #include "Messages.h"
 
 #include "LowLevelMessages.h"
-//#include "Participant.h"
 #include "string.h"
 
 namespace RoboidControl {
@@ -10,26 +9,10 @@ namespace RoboidControl {
 
 IMessage::IMessage() {}
 
-// IMessage::IMessage(unsigned char *buffer) { Deserialize(buffer); }
-
-// IMessage::IMessage(char* buffer) {}
-
 unsigned char IMessage::Serialize(char* buffer) {
   return 0;
 }
 
-// bool IMessage::SendMsg(ParticipantUDP *client, IMessage msg) {
-//   // return SendMsg(client, client.buffer, );nameLength
-//   return client->SendBuffer(msg.Serialize(client->buffer));
-// }
-
-// bool IMessage::Publish(ParticipantUDP *participant) {
-//   return participant->PublishBuffer(Serialize(participant->buffer));
-// }
-// bool IMessage::SendTo(ParticipantUDP *participant) {
-//   return participant->SendBuffer(Serialize(participant->buffer));
-// }
-
 // IMessage
 #pragma endregion
 
diff --git a/Messages/ModelUrlMsg.h b/Messages/ModelUrlMsg.h
index 27e5e25..3c35e68 100644
--- a/Messages/ModelUrlMsg.h
+++ b/Messages/ModelUrlMsg.h
@@ -8,7 +8,7 @@ class ModelUrlMsg : public IMessage {
   /// @brief The message ID
   static const unsigned char id = 0x90;
   /// @brief The length of the message without the URL string itself
-  static const unsigned char length = 3;
+  static const unsigned char length = 4;
 
   /// @brief The network ID of the thing
   unsigned char networkId;
diff --git a/Messages/NameMsg.cpp b/Messages/NameMsg.cpp
index 31b5d0e..36bd474 100644
--- a/Messages/NameMsg.cpp
+++ b/Messages/NameMsg.cpp
@@ -25,6 +25,7 @@ NameMsg::NameMsg(const char* buffer) {
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
   this->nameLength = buffer[ix++];
+
   // the name string in the buffer is not \0 terminated!
   char* name = new char[this->nameLength + 1];
   for (int i = 0; i < this->nameLength; i++)
diff --git a/Participant.cpp b/Participant.cpp
index f79e707..80b484f 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -28,21 +28,19 @@ Participant::~Participant() {
 }
 
 void Participant::Update(unsigned long currentTimeMs) {
-  for (Thing* thing : this->things) { 
-      if (thing != nullptr)
-          thing->Update(currentTimeMs, true);                
+  for (Thing* thing : this->things) {
+    if (thing != nullptr)
+      thing->Update(currentTimeMs, true);
   }
 }
 
-Thing* Participant::Get(unsigned char networkId, unsigned char thingId) {
+Thing* Participant::Get(unsigned char thingId) {
   for (Thing* thing : this->things) {
-    // if (thing->networkId == networkId && thing->id == thingId)
     if (thing->id == thingId)
       return thing;
   }
-  //   std::cout << "Could not find thing " << this->ipAddress << ":" <<
-  //   this->port
-  //             << "[" << (int)networkId << "/" << (int)thingId << "]\n";
+  std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
+            << "[" << (int)thingId << "]\n";
   return nullptr;
 }
 
@@ -56,25 +54,22 @@ void Participant::Add(Thing* thing, bool checkId) {
     thing->id = (unsigned char)this->things.size() + 1;
     this->things.push_back(thing);
 #endif
-    // std::cout << "Add thing with generated ID " << this->ipAddress << ":" <<
-    // this->port << "[" << (int)thing->networkId << "/"
-    //           << (int)thing->id << "]\n";
+    // std::cout << "Add thing with generated ID " << this->ipAddress << ":"
+    //           << this->port << "[" << (int)thing->id << "]\n";
   } else {
-    Thing* foundThing = Get(thing->networkId, thing->id);
+    Thing* foundThing = Get(thing->id);
     if (foundThing == nullptr) {
 #if defined(NO_STD)
       this->things[this->thingCount++] = thing;
 #else
       this->things.push_back(thing);
 #endif
-      // std::cout << "Add thing " << this->ipAddress << ":" << this->port <<
-      // "[" << (int)thing->networkId << "/"
+      // std::cout << "Add thing " << this->ipAddress << ":" << this->port << "["
       //           << (int)thing->id << "]\n";
+    } else {
+      // std::cout << "Did not add, existing thing " << this->ipAddress << ":"
+      //           << this->port << "[" << (int)thing->id << "]\n";
     }
-    // else
-    //   std::cout << "Did not add, existing thing " << this->ipAddress << ":"
-    //   << this->port << "["
-    //             << (int)thing->networkId << "/" << (int)thing->id << "]\n";
   }
 }
 
diff --git a/Participant.h b/Participant.h
index c03fdcf..5fdffc4 100644
--- a/Participant.h
+++ b/Participant.h
@@ -50,7 +50,7 @@ class Participant {
   /// @param thingId The ID of the thing
   /// @return The thing if found or nullptr when no thing has been found
   /// @note The use of the network ID is likely to disappear in future versions.
-  Thing* Get(unsigned char networkId, unsigned char thingId);
+  Thing* Get(unsigned char thingId);
   /// @brief Add a new thing for this participant.
   /// @param thing The thing to add
   /// @param checkId Checks the thing ID of the thing. If it is 0, a new thing
diff --git a/Participants/ParticipantUDP.cpp b/Participants/ParticipantUDP.cpp
index b9a367c..d2f22aa 100644
--- a/Participants/ParticipantUDP.cpp
+++ b/Participants/ParticipantUDP.cpp
@@ -252,59 +252,75 @@ bool ParticipantUDP::Publish(IMessage* msg) {
 void ParticipantUDP::ReceiveData(unsigned char packetSize,
                                  char* senderIpAddress,
                                  unsigned int senderPort) {
-  Participant* remoteParticipant =
+  Participant* sender =
       this->GetParticipant(senderIpAddress, senderPort);
-  if (remoteParticipant == nullptr) {
-    remoteParticipant = this->AddParticipant(senderIpAddress, senderPort);
-    std::cout << "New remote participant " << remoteParticipant->ipAddress
-              << ":" << remoteParticipant->port << " "
-              << (int)remoteParticipant->networkId << "\n";
+  if (sender == nullptr) {
+    sender = this->AddParticipant(senderIpAddress, senderPort);
+    std::cout << "New remote participant " << sender->ipAddress
+              << ":" << sender->port << std::endl;
   }
 
-  ReceiveData(packetSize, remoteParticipant);
+  ReceiveData(packetSize, sender);
 }
 
 void ParticipantUDP::ReceiveData(unsigned char bufferSize,
-                                 Participant* remoteParticipant) {
+                                 Participant* sender) {
   unsigned char msgId = this->buffer[0];
   std::cout << "receive msg " << (int)msgId << "\n";
+  // std::cout << "  buffer size = " <<(int) bufferSize << "\n";
   switch (msgId) {
     case ParticipantMsg::id: {
       ParticipantMsg* msg = new ParticipantMsg(this->buffer);
-      Process(remoteParticipant, msg);
+      bufferSize -= msg->length;
+      Process(sender, msg);
       delete msg;
     } break;
     case SiteMsg::id: {
       SiteMsg* msg = new SiteMsg(this->buffer);
-      Process(remoteParticipant, msg);
+      bufferSize -= msg->length;
+      Process(sender, msg);
       delete msg;
     } break;
     case InvestigateMsg::id: {
       InvestigateMsg* msg = new InvestigateMsg(this->buffer);
-      Process(remoteParticipant, msg);
+      Process(sender, msg);
       delete msg;
     } break;
     case ThingMsg::id: {
       ThingMsg* msg = new ThingMsg(this->buffer);
-      Process(remoteParticipant, msg);
+      bufferSize -= msg->length;
+      Process(sender, msg);
       delete msg;
     } break;
     case NameMsg::id: {
       NameMsg* msg = new NameMsg(this->buffer);
-      Process(remoteParticipant, msg);
+      bufferSize -= msg->length + msg->nameLength;
+      Process(sender, msg);
+      delete msg;
+    } break;
+    case ModelUrlMsg::id: {
+      ModelUrlMsg* msg = new ModelUrlMsg(this->buffer);
+      bufferSize -= msg->length + msg->urlLength;
+      Process(sender, msg);
       delete msg;
     } break;
     case PoseMsg::id: {
       PoseMsg* msg = new PoseMsg(this->buffer);
-      Process(remoteParticipant, msg);
+      bufferSize -= msg->length;
+      Process(sender, msg);
       delete msg;
     } break;
     case BinaryMsg::id: {
       BinaryMsg* msg = new BinaryMsg(this->buffer);
-      Process(remoteParticipant, msg);
+      bufferSize -= msg->length + msg->dataLength;
+      Process(sender, msg);
       delete msg;
     } break;
   };
+
+  // Check if the buffer has been read completely
+  if (bufferSize > 0)
+    std::cout << "Buffer not fully read, remaining " << (int)bufferSize << "\n";
 }
 
 void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {
@@ -313,8 +329,8 @@ void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {
 }
 
 void ParticipantUDP::Process(Participant* sender, SiteMsg* msg) {
-  // std::cout << this->name << ": process Site Id " << (int)this->networkId
-  //           << "->" << (int)msg->networkId << "\n";
+  std::cout << this->name << ": process Site Id " << (int)this->networkId
+            << "->" << (int)msg->networkId << "\n";
   if (this->networkId != msg->networkId) {
     this->networkId = msg->networkId;
     // std::cout << this->things.size() << " things\n";
@@ -332,9 +348,9 @@ void ParticipantUDP::Process(Participant* sender, ThingMsg* msg) {
 
 void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
   std::cout << this->name << ": process Name [" << (int)msg->networkId << "/"
-            << (int)msg->thingId << "]\n";
+            << (int)msg->thingId << "] ";
 
-  Thing* thing = sender->Get(msg->networkId, msg->thingId);
+  Thing* thing = sender->Get(msg->thingId);
   if (thing != nullptr) {
     int nameLength = msg->nameLength;
     int stringLen = nameLength + 1;
@@ -346,15 +362,19 @@ void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
     // Use strncpy with bounds checking for other platforms (Arduino, POSIX,
     // ESP-IDF)
     strncpy(thingName, msg->name,
-            stringLen - 1);           // Leave space for null terminator
-    thingName[stringLen - 1] = '\0';  // Ensure null termination
+            nameLength);  // Leave space for null terminator
 #endif
     thingName[nameLength] = '\0';
     thing->name = thingName;
-    // std::cout << "thing name = " << thing->name << " length = " <<
-    // nameLength
-    //           << "\n";
+
+    std::cout << thing->name;
   }
+  std::cout << std::endl;
+}
+
+void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
+  std::cout << this->name << ": process model url [" << (int)msg->networkId
+            << "/" << (int)msg->thingId << "]\n";
 }
 
 void ParticipantUDP::Process(Participant* sender, PoseMsg* msg) {
@@ -364,18 +384,15 @@ void ParticipantUDP::Process(Participant* sender, PoseMsg* msg) {
 
 void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
   std::cout << this->name << ": process Binary [" << (int)msg->networkId << "/"
-            << (int)msg->thingId << "]\n";
-  Thing* thing = sender->Get(msg->networkId, msg->thingId);
+            << (int)msg->thingId << "] ";
+  Thing* thing = sender->Get(msg->thingId);
   if (thing != nullptr)
-    thing->ProcessBinary(msg->bytes);
+    thing->ProcessBinary(msg->data);
   else {
-    thing = this->Get(msg->networkId, msg->thingId);
-    if (thing != nullptr)
-      thing->ProcessBinary(msg->bytes);
-    else
-      std::cout << "custom msg for unknown thing [" << (int)msg->networkId
-                << "/" << (int)msg->thingId << "]\n";
+    std::cout << "  unknown thing [" << (int)msg->networkId << "/"
+              << (int)msg->thingId << "]";
   }
+  std::cout << std::endl;
 }
 
 // Receive
diff --git a/Participants/ParticipantUDP.h b/Participants/ParticipantUDP.h
index 4d82fb9..ec93af9 100644
--- a/Participants/ParticipantUDP.h
+++ b/Participants/ParticipantUDP.h
@@ -136,6 +136,7 @@ class ParticipantUDP : public Participant {
   virtual void Process(Participant* sender, InvestigateMsg* msg);
   virtual void Process(Participant* sender, ThingMsg* msg);
   virtual void Process(Participant* sender, NameMsg* msg);
+  virtual void Process(Participant* sender, ModelUrlMsg* msg);
   virtual void Process(Participant* sender, PoseMsg* msg);
   virtual void Process(Participant* sender, BinaryMsg* msg);
 
diff --git a/Participants/SiteServer.cpp b/Participants/SiteServer.cpp
index 4531b5b..8bde494 100644
--- a/Participants/SiteServer.cpp
+++ b/Participants/SiteServer.cpp
@@ -25,7 +25,7 @@ SiteServer::SiteServer(int port) {
   SetupUDP(port, ipAddress, 0);
 
 #if !defined(NO_STD)
-  //Register<TemperatureSensor>((unsigned char)Thing::Type::TemperatureSensor);
+  // Register<TemperatureSensor>((unsigned char)Thing::Type::TemperatureSensor);
 #endif
 }
 
@@ -43,22 +43,23 @@ void SiteServer::Process(Participant* sender, ParticipantMsg* msg) {
 void SiteServer::Process(Participant* sender, SiteMsg* msg) {}
 
 void SiteServer::Process(Participant* sender, ThingMsg* msg) {
-  Thing* thing = sender->Get(msg->networkId, msg->thingId);
+  Thing* thing = sender->Get(msg->thingId);
   if (thing == nullptr) {
-// #if defined(NO_STD)
-    new Thing(sender, msg->networkId, msg->thingId,
-              (Thing::Type)msg->thingType);
-// #else
-//     auto thingMsgProcessor = thingMsgProcessors.find(msg->thingType);
-//     //Thing* newThing;
-//     if (thingMsgProcessor != thingMsgProcessors.end())  // found item
-//       //newThing =
-//           thingMsgProcessor->second(sender, msg->networkId, msg->thingId);
-//     else
-//       //newThing = 
-//         new Thing(sender, msg->networkId, msg->thingId,
-//                            (Thing::Type)msg->thingType);
-// #endif
+    // #if defined(NO_STD)
+    new Thing(sender, (Thing::Type)msg->thingType,
+              msg->thingId);
+    // #else
+    //     auto thingMsgProcessor = thingMsgProcessors.find(msg->thingType);
+    //     //Thing* newThing;
+    //     if (thingMsgProcessor != thingMsgProcessors.end())  // found item
+    //       //newThing =
+    //           thingMsgProcessor->second(sender, msg->networkId,
+    //           msg->thingId);
+    //     else
+    //       //newThing =
+    //         new Thing(sender, msg->networkId, msg->thingId,
+    //                            (Thing::Type)msg->thingType);
+    // #endif
   }
 }
 
diff --git a/Thing.cpp b/Thing.cpp
index 73fb6fd..86e4008 100644
--- a/Thing.cpp
+++ b/Thing.cpp
@@ -1,8 +1,8 @@
 #include "Thing.h"
 
+#include "Messages/PoseMsg.h"
 #include "Participant.h"
 #include "Participants/IsolatedParticipant.h"
-#include "Messages/PoseMsg.h"
 
 #include <string.h>
 
@@ -23,14 +23,15 @@ namespace RoboidControl {
 //   return isolatedParticipant;
 // }
 
-Thing::Thing(int thingType) : Thing(IsolatedParticipant::Isolated(), thingType) {}
+Thing::Thing(int thingType)
+    : Thing(IsolatedParticipant::Isolated(), thingType) {}
 
-Thing::Thing(Participant* owner, Type thingType)
-    : Thing(owner, (unsigned char)thingType) {}
+Thing::Thing(Participant* owner, Type thingType, unsigned char thingId)
+    : Thing(owner, (unsigned char)thingType, thingId) {}
 
-Thing::Thing(Participant* owner, int thingType) {
+Thing::Thing(Participant* owner, int thingType, unsigned char thingId) {
   this->owner = owner;
-  this->id = 0;
+  this->id = thingId;
   this->type = thingType;
   this->networkId = 0;
 
@@ -40,27 +41,27 @@ Thing::Thing(Participant* owner, int thingType) {
   this->linearVelocity = Spherical::zero;
   this->angularVelocity = Spherical::zero;
 
-  // std::cout << "add thing to participant\n";
-  owner->Add(this);
+  // std::cout << "add thing [" << (int)this->id << "] to owner "
+  //           << this->owner->ipAddress << ":" << this->owner->port << std::endl;
+  this->owner->Add(this, false);
 }
 
-Thing::Thing(Participant* owner,
-             unsigned char networkId,
-             unsigned char thingId,
-             Type thingType) {
-  // no participant reference yet..
-  this->owner = owner;
-  this->networkId = networkId;
-  this->id = thingId;
-  this->type = (unsigned char)thingType;
+// Thing::Thing(Participant* owner,
+//             Type thingType,
+//              int thingId) {
+//   // no participant reference yet..
+//   this->owner = owner;
+//   this->networkId = networkId;
+//   this->id = thingId;
+//   this->type = (unsigned char)thingType;
 
-  this->linearVelocity = Spherical::zero;
-  this->angularVelocity = Spherical::zero;
-  // std::cout << "Created thing " << (int)this->networkId << "/" <<
-  // (int)this->id
-  //           << "\n";
-  owner->Add(this, false);
-}
+//   this->linearVelocity = Spherical::zero;
+//   this->angularVelocity = Spherical::zero;
+//   // std::cout << "Created thing " << (int)this->networkId << "/" <<
+//   // (int)this->id
+//   //           << "\n";
+//   owner->Add(this, false);
+// }
 
 void Thing::Terminate() {
   // Thing::Remove(this);
@@ -210,9 +211,10 @@ void Thing::UpdateThings(unsigned long currentTimeMs) {
   IsolatedParticipant::Isolated()->Update(currentTimeMs);
 }
 
-void Thing::GenerateBinary(char* buffer, unsigned char* ix) {
+int Thing::GenerateBinary(char* buffer, unsigned char* ix) {
   (void)buffer;
   (void)ix;
+  return 0;
 }
 void Thing::ProcessBinary(char* bytes) {
   (void)bytes;
diff --git a/Thing.h b/Thing.h
index d640d8b..febe7a9 100644
--- a/Thing.h
+++ b/Thing.h
@@ -43,19 +43,21 @@ class Thing {
   Thing(int thingType = Type::Undetermined);
   /// @brief Create a new thing of the given type
   /// @param thingType The predefined type of thing
-  Thing(Participant* participant, Type thingType = Type::Undetermined);
+  Thing(Participant* participant,
+        Type thingType = Type::Undetermined,
+        unsigned char thingId = 0);
   /// @brief Create a new thing of the give type
   /// @param thingType The custom type of the thing
-  Thing(Participant* participant, int thingType);
+  Thing(Participant* participant, int thingType, unsigned char thingId = 0);
   /// @brief Create a new thing for the given participant
   /// @param participant The participant for which this thing is created
   /// @param networkId The network ID of the thing
   /// @param thingId The ID of the thing
   /// @param thingType The type of thing
-  Thing(Participant* participant,
-        unsigned char networkId,
-        unsigned char thingId,
-        Type thingType = Type::Undetermined);
+  // Thing(Participant* participant,
+  //       unsigned char networkId,
+  //       unsigned char thingId,
+  //       Type thingType = Type::Undetermined);
 
   /// @brief The participant managing this thing
   Participant* owner;
@@ -192,7 +194,8 @@ class Thing {
   /// @brief Function used to generate binary data for this thing
   /// @param buffer The byte array for thw binary data
   /// @param ix The starting position for writing the binary data
-  virtual void GenerateBinary(char* buffer, unsigned char* ix);
+  /// @returns The size of the binary data
+  virtual int GenerateBinary(char* buffer, unsigned char* ix);
   // /// @brief FUnction used to process binary data received for this thing
   /// @param bytes The binary data
   virtual void ProcessBinary(char* bytes);
diff --git a/Things/TemperatureSensor.cpp b/Things/TemperatureSensor.cpp
index f31044a..45718a5 100644
--- a/Things/TemperatureSensor.cpp
+++ b/Things/TemperatureSensor.cpp
@@ -5,17 +5,18 @@
 namespace RoboidControl {
 
 TemperatureSensor::TemperatureSensor(Participant* participant,
-                                     unsigned char networkId,
                                      unsigned char thingId)
-    : Thing(participant, networkId, thingId, Type::TemperatureSensor) {}
+    : Thing(participant, Type::TemperatureSensor, thingId) {}
 
 void TemperatureSensor::SetTemperature(float temp) {
   this->temperature = temp;
 }
 
-void TemperatureSensor::GenerateBinary(char* buffer, unsigned char* ix) {
+int TemperatureSensor::GenerateBinary(char* buffer, unsigned char* ix) {
+  unsigned char startIx = *ix;
   // std::cout << "Send temperature: " << this->temperature << "\n";
   LowLevelMessages::SendFloat16(buffer, ix, this->temperature);
+  return *ix - startIx;
 }
 
 void TemperatureSensor::ProcessBinary(char* bytes) {
diff --git a/Things/TemperatureSensor.h b/Things/TemperatureSensor.h
index e6ea177..8d58d9c 100644
--- a/Things/TemperatureSensor.h
+++ b/Things/TemperatureSensor.h
@@ -15,7 +15,7 @@ class TemperatureSensor : public Thing {
   /// @brief Create a temperature sensor with the given ID
   /// @param networkId The network ID of the sensor
   /// @param thingId The ID of the thing
-  TemperatureSensor(Participant* participant, unsigned char networkId, unsigned char thingId);
+  TemperatureSensor(Participant* participant, unsigned char thingId);
 
   /// @brief Manually override the measured temperature
   /// @param temperature The new temperature
@@ -24,7 +24,7 @@ class TemperatureSensor : public Thing {
   /// @brief Function to create a binary message with the temperature
   /// @param buffer The byte array for thw binary data
   /// @param ix The starting position for writing the binary data
-  void GenerateBinary(char* bytes, unsigned char* ix) override;
+  int GenerateBinary(char* bytes, unsigned char* ix) override;
   /// @brief Function to extract the temperature received in the binary message
   /// @param bytes The binary data
   virtual void ProcessBinary(char* bytes) override;
diff --git a/Things/TouchSensor.cpp b/Things/TouchSensor.cpp
index f7f65f0..b5743f6 100644
--- a/Things/TouchSensor.cpp
+++ b/Things/TouchSensor.cpp
@@ -10,7 +10,9 @@ TouchSensor::TouchSensor(Thing* parent) : Thing(parent->owner) {
   this->SetParent(parent);
 }
 
-void TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {}
+int TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {
+  return 0;
+}
 
 void TouchSensor::ProcessBinary(char* bytes) {
   // if (bytes[0] == 1)
diff --git a/Things/TouchSensor.h b/Things/TouchSensor.h
index 83ecc8b..39638e7 100644
--- a/Things/TouchSensor.h
+++ b/Things/TouchSensor.h
@@ -25,7 +25,7 @@ class TouchSensor : public Thing {
   /// @brief Function to create a binary message with the temperature
   /// @param buffer The byte array for thw binary data
   /// @param ix The starting position for writing the binary data
-  void GenerateBinary(char* bytes, unsigned char* ix) override;
+  int GenerateBinary(char* bytes, unsigned char* ix) override;
   /// @brief Function to extract the temperature received in the binary message
   /// @param bytes The binary data
   virtual void ProcessBinary(char* bytes) override;